Initial commit

.clang-format

+---
+Language: Cpp
+BasedOnStyle: LLVM
+IndentWidth: 4
+TabWidth: 4
+UseTab: Never
+ColumnLimit: 100
+AccessModifierOffset: -4
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlines: Right
+AlignOperands: true
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: Empty
+AllowShortBlocksOnASingleLine: false
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: false
+BinPackArguments: true
+BinPackParameters: true
+BraceWrapping:
+  AfterClass: false
+  AfterControlStatement: false
+  AfterEnum: false
+  AfterFunction: false
+  AfterNamespace: false
+  AfterObjCDeclaration: false
+  AfterStruct: false
+  AfterUnion: false
+  BeforeCatch: true
+  BeforeElse: true
+  IndentBraces: false
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Attach
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+CommentPragmas: '^ IWYU pragma:'
+ConstructorInitializerAllOnOneLineOrOnePerLine: false
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DerivePointerAlignment: false
+DisableFormat: false
+ExperimentalAutoDetectBinPacking: false
+ForEachMacros: [ foreach, Q_FOREACH, BOOST_FOREACH ]
+IncludeCategories:
+  - Regex: '^"(llvm|llvm-c|clang|clang-c)/'
+    Priority: 2
+  - Regex: '^(<|"(gtest|gmock|isl|json)/)'
+    Priority: 3
+  - Regex: '.*'
+    Priority: 1
+IncludeIsMainRegex: '([-_](test|unittest))?$'
+IndentCaseLabels: true
+IndentWrappedFunctionNames: false
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: true
+MacroBlockBegin: ''
+MacroBlockEnd: ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: false
+PenaltyBreakBeforeFirstCallParameter: 1
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyBreakAssignment: 2
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 200
+PointerAlignment: Right
+ReflowComments: true
+SortIncludes: true
+SpaceAfterCStyleCast: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: ControlStatements
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 1
+SpacesInAngles: false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard: C++17

.clang-tidy

+---
+Checks: >
+  -*,
+  bugprone-*,
+  cert-*,
+  cppcoreguidelines-*,
+  -cppcoreguidelines-avoid-magic-numbers,
+  -cppcoreguidelines-pro-bounds-array-to-pointer-decay,
+  -cppcoreguidelines-pro-type-union-access,
+  -cppcoreguidelines-pro-bounds-constant-array-index,
+  -cppcoreguidelines-avoid-non-const-global-variables,
+  misc-*,
+  -misc-non-private-member-variables-in-classes,
+  performance-*,
+  -performance-avoid-endl,
+  readability-*,
+  -readability-magic-numbers,
+  -readability-identifier-length,
+  -readability-function-cognitive-complexity,
+  modernize-*,
+  -modernize-use-trailing-return-type,
+  -modernize-avoid-c-arrays
+
+WarningsAsErrors: ''
+HeaderFilterRegex: '.*'
+AnalyzeTemporaryDtors: false
+FormatStyle: 'file'
+User: ''
+CheckOptions:
+  - key: readability-identifier-naming.NamespaceCase
+    value: lower_case
+  - key: readability-identifier-naming.ClassCase
+    value: CamelCase
+  - key: readability-identifier-naming.StructCase
+    value: CamelCase
+  - key: readability-identifier-naming.FunctionCase
+    value: camelBack
+  - key: readability-identifier-naming.VariableCase
+    value: camelBack
+  - key: readability-identifier-naming.ParameterCase
+    value: camelBack
+  - key: readability-identifier-naming.MemberCase
+    value: camelBack
+  - key: readability-identifier-naming.PrivateMemberPrefix
+    value: m_
+  - key: readability-identifier-naming.ProtectedMemberPrefix
+    value: m_
+  - key: readability-identifier-naming.EnumCase
+    value: CamelCase
+  - key: readability-identifier-naming.EnumConstantCase
+    value: UPPER_CASE
+  - key: readability-identifier-naming.ConstantCase
+    value: UPPER_CASE
+  - key: readability-identifier-naming.MacroDefinitionCase
+    value: UPPER_CASE
+  - key: cppcoreguidelines-special-member-functions.AllowSoleDefaultDtor
+    value: true
+  - key: cppcoreguidelines-special-member-functions.AllowMissingMoveFunctions
+    value: true

.gitattributes

+# 自动检测文本文件并规范化行尾
+* text=auto
+
+# 明确指定文本文件使用 LF 换行符
+*.cpp text eol=lf
+*.h text eol=lf
+*.hpp text eol=lf
+*.c text eol=lf
+*.cmake text eol=lf
+CMakeLists.txt text eol=lf
+*.txt text eol=lf
+*.md text eol=lf
+*.sh text eol=lf
+*.yml text eol=lf
+*.yaml text eol=lf
+*.json text eol=lf
+
+# 二进制文件
+*.so binary
+*.dll binary
+*.dylib binary
+*.a binary
+*.lib binary
+*.exe binary
+*.png binary
+*.jpg binary
+*.jpeg binary
+*.gif binary
+*.ico binary
+*.pdf binary
+
+# 第三方库目录保持原样
+third_party/** -text

.github/workflows/ci.yml

+name: CI/CD
+
+on:
+  push:
+    branches: [ main, master, develop ]
+  pull_request:
+    branches: [ main, master, develop ]
+  workflow_dispatch:
+
+env:
+  BUILD_TYPE: Release
+
+jobs:
+  build-and-test:
+    name: Build and Test - ${{ matrix.os }} (${{ matrix.arch }})
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          # Linux x86_64 (主要测试平台)
+          - os: ubuntu-latest
+            arch: x86_64
+            cmake_build_type: Release
+            use_qemu: false
+          # Linux x86_64 Debug 构建
+          - os: ubuntu-latest
+            arch: x86_64
+            cmake_build_type: Debug
+            use_qemu: false
+          # Linux aarch64 Release 构建 (使用 QEMU 模拟)
+          - os: ubuntu-latest
+            arch: aarch64
+            cmake_build_type: Release
+            use_qemu: true
+
+    steps:
+      - name: 检出代码
+        uses: actions/checkout@v4
+
+      - name: 设置 QEMU (aarch64)
+        if: matrix.use_qemu == true
+        uses: docker/setup-qemu-action@v3
+        with:
+          platforms: arm64
+
+      - name: 缓存 CMake 构建
+        uses: actions/cache@v4
+        with:
+          path: |
+            build
+            ~/.cmake
+          key: ${{ runner.os }}-cmake-${{ matrix.arch }}-${{ matrix.cmake_build_type }}-${{ hashFiles('**/CMakeLists.txt') }}
+          restore-keys: |
+            ${{ runner.os }}-cmake-${{ matrix.arch }}-${{ matrix.cmake_build_type }}-
+
+      - name: 安装构建依赖
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y \
+            build-essential \
+            cmake \
+            git \
+            libpthread-stubs0-dev
+          # 对于 aarch64，安装交叉编译工具链或 QEMU 用户模式
+          if [ "${{ matrix.arch }}" = "aarch64" ]; then
+            sudo apt-get install -y \
+              gcc-aarch64-linux-gnu \
+              g++-aarch64-linux-gnu \
+              qemu-user-static \
+              binfmt-support
+          fi
+
+      - name: 验证工具链版本
+        run: |
+          echo "=== CMake 版本 ==="
+          cmake --version
+          echo ""
+          echo "=== 编译器版本 ==="
+          if [ "${{ matrix.arch }}" = "aarch64" ]; then
+            aarch64-linux-gnu-gcc --version
+            aarch64-linux-gnu-g++ --version
+          else
+            gcc --version
+            g++ --version
+          fi
+          echo ""
+          echo "=== 系统信息 ==="
+          uname -a
+          echo "目标架构: ${{ matrix.arch }}"
+          echo "实际架构: $(uname -m)"
+
+      - name: 创建构建目录
+        run: mkdir -p build
+
+      - name: 配置 CMake
+        working-directory: build
+        run: |
+          if [ "${{ matrix.arch }}" = "aarch64" ]; then
+            # 使用交叉编译工具链
+            cmake .. \
+              -DCMAKE_BUILD_TYPE=${{ matrix.cmake_build_type }} \
+              -DBUILD_TESTING=ON \
+              -DCMAKE_SYSTEM_NAME=Linux \
+              -DCMAKE_SYSTEM_PROCESSOR=aarch64 \
+              -DCMAKE_C_COMPILER=aarch64-linux-gnu-gcc \
+              -DCMAKE_CXX_COMPILER=aarch64-linux-gnu-g++ \
+              -DCMAKE_FIND_ROOT_PATH=/usr/aarch64-linux-gnu
+          else
+            cmake .. \
+              -DCMAKE_BUILD_TYPE=${{ matrix.cmake_build_type }} \
+              -DBUILD_TESTING=ON
+          fi
+
+      - name: 构建项目
+        working-directory: build
+        run: |
+          cmake --build . \
+            --config ${{ matrix.cmake_build_type }} \
+            --parallel $(nproc) \
+            --verbose
+
+      - name: 运行测试
+        working-directory: build
+        run: |
+          if [ "${{ matrix.arch }}" = "aarch64" ]; then
+            # 对于 aarch64，使用 QEMU 运行测试
+            # 设置 QEMU 环境变量
+            export QEMU_LD_PREFIX=/usr/aarch64-linux-gnu
+            # 使用较少的并行任务，因为 QEMU 模拟较慢
+            ctest --output-on-failure --parallel 2 || ctest --output-on-failure
+          else
+            ctest --output-on-failure --parallel $(nproc) || ctest --output-on-failure
+          fi
+        continue-on-error: false
+
+      - name: 显示测试结果
+        if: always()
+        working-directory: build
+        run: |
+          echo "=== 测试摘要 ==="
+          ctest --print-labels || true
+          echo ""
+          echo "=== 构建产物 ==="
+          find . -type f -executable -name "test_*" -exec file {} \; || true
+          find . -type f -executable -name "*example*" -exec file {} \; || true
+
+  build-examples:
+    name: Build Examples
+    runs-on: ubuntu-latest
+    needs: build-and-test
+
+    steps:
+      - name: 检出代码
+        uses: actions/checkout@v4
+
+      - name: 安装构建依赖
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y \
+            build-essential \
+            cmake \
+            git \
+            libpthread-stubs0-dev
+
+      - name: 创建构建目录
+        run: mkdir -p build
+
+      - name: 配置 CMake
+        working-directory: build
+        run: |
+          cmake .. \
+            -DCMAKE_BUILD_TYPE=Release \
+            -DBUILD_TESTING=OFF
+
+      - name: 构建示例程序
+        working-directory: build
+        run: |
+          cmake --build . \
+            --config Release \
+            --parallel $(nproc) \
+            --target toolset_example action_group_show_l10
+
+      - name: 验证示例程序
+        working-directory: build
+        run: |
+          echo "=== 验证构建产物 ==="
+          if [ -f toolset_example ]; then
+            echo "✓ toolset_example 构建成功"
+            file toolset_example
+            ls -lh toolset_example
+          else
+            echo "✗ toolset_example 未找到"
+            exit 1
+          fi
+          if [ -f action_group_show_l10 ]; then
+            echo "✓ action_group_show_l10 构建成功"
+            file action_group_show_l10
+            ls -lh action_group_show_l10
+          else
+            echo "✗ action_group_show_l10 未找到"
+            exit 1
+          fi
+
+  code-quality:
+    name: Code Quality Checks
+    runs-on: ubuntu-latest
+    steps:
+      - name: 检出代码
+        uses: actions/checkout@v4
+
+      - name: 检查文件编码和换行符
+        run: |
+          echo "检查文件编码和换行符..."
+          # 检查是否有 Windows 换行符（排除第三方库目录）
+          CRLF_FILES=$(find . -type f \
+            ! -path "./third_party/*" \
+            \( -name "*.cpp" -o -name "*.h" -o -name "*.cmake" -o -name "CMakeLists.txt" \) \
+            -exec file {} \; | grep -i "CRLF" || true)
+
+          if [ -n "$CRLF_FILES" ]; then
+            echo "错误: 发现 Windows 换行符 (CRLF)"
+            echo ""
+            echo "以下文件需要修复："
+            echo "$CRLF_FILES"
+            echo ""
+            echo "修复方法（Linux/macOS）："
+            echo "  find . -type f ! -path './third_party/*' \\( -name '*.cpp' -o -name '*.h' -o -name '*.cmake' -o -name 'CMakeLists.txt' \\) -exec sed -i 's/\\r$//' {} \\;"
+            echo ""
+            echo "或者使用 dos2unix："
+            echo "  find . -type f ! -path './third_party/*' \\( -name '*.cpp' -o -name '*.h' -o -name '*.cmake' -o -name 'CMakeLists.txt' \\) -exec dos2unix {} \\;"
+            exit 1
+          fi
+          echo "✓ 文件编码检查通过（已排除 third_party 目录）"
+
+      - name: 检查 CMake 语法
+        run: |
+          echo "检查 CMake 语法..."
+          cmake --version
+          # 尝试解析 CMakeLists.txt
+          mkdir -p /tmp/cmake-check
+          cd /tmp/cmake-check
+          cmake ${{ github.workspace }} -Wno-dev > /dev/null 2>&1 || true
+          echo "✓ CMake 语法检查完成"
+
+      - name: 检查头文件包含
+        run: |
+          echo "检查头文件包含..."
+          # 检查是否有明显的头文件问题
+          if find ${{ github.workspace }}/include -name "*.h" -exec grep -l "#include.*\.\./" {} \; | head -5; then
+            echo "警告: 发现相对路径包含"
+          fi
+          echo "✓ 头文件检查完成"
+
+  summary:
+    name: CI Summary
+    runs-on: ubuntu-latest
+    needs: [build-and-test, build-examples, code-quality]
+    if: always()
+    steps:
+      - name: 生成 CI 摘要
+        run: |
+          echo "## CI/CD 构建摘要" >> $GITHUB_STEP_SUMMARY
+          echo "" >> $GITHUB_STEP_SUMMARY
+          echo "### 构建状态" >> $GITHUB_STEP_SUMMARY
+          echo "- 构建和测试: ${{ needs.build-and-test.result }}" >> $GITHUB_STEP_SUMMARY
+          echo "- 示例构建: ${{ needs.build-examples.result }}" >> $GITHUB_STEP_SUMMARY
+          echo "- 代码质量: ${{ needs.code-quality.result }}" >> $GITHUB_STEP_SUMMARY
+          echo "" >> $GITHUB_STEP_SUMMARY
+          echo "### 详细信息" >> $GITHUB_STEP_SUMMARY
+          echo "查看上方的作业详情以获取更多信息。" >> $GITHUB_STEP_SUMMARY

.gitignore

+build
+.vscode/
+linker_hand/build
+TODO.md
+PROJECT_ANALYSIS.md

.idea/.gitignore

+# 默认忽略的文件
+/shelf/
+/workspace.xml
+# 基于编辑器的 HTTP 客户端请求
+/httpRequests/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml

.idea/.name

+LinkerHand-CPP-SDK
\ No newline at end of file

.idea/codeStyles/Project.xml

+<component name="ProjectCodeStyleConfiguration">
+  <code_scheme name="Project" version="173">
+    <RiderCodeStyleSettings>
+      <option name="/Default/CodeStyle/CodeFormatting/CppClangFormat/EnableClangFormatSupport/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/EditorConfig/EnableClangFormatSupport/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_BINARY_EXPRESSIONS_CHAIN/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_CALLS_CHAIN/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXPRESSION/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_FOR_STMT/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTIPLE_DECLARATION/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_TERNARY/@EntryValue" value="ALIGN_ALL" type="string" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_CLASS_DEFINITION/@EntryValue" value="1" type="int" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_DECLARATIONS/@EntryValue" value="2" type="int" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_CODE/@EntryValue" value="2" type="int" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_USER_LINEBREAKS/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CASE_FROM_SWITCH/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_COMMENT/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INT_ALIGN_EQ/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SIMPLE_BLOCK_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_PARAMS/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_SEMICOLON/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_SEMICOLON/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_UNARY_OPERATOR/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_ARRAY_ACCESS_BRACKETS/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_METHOD_PARENTHESES/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPECIAL_ELSE_IF_TREATMENT/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_BINARY_OPSIGN/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_TERNARY_OPSIGNS/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TYPE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/OTHER_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CASE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DECLARATION/@EntryValue" value="1" type="int" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DEFINITION/@EntryValue" value="1" type="int" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_WHILE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_ELSE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_CATCH_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_INDENTATION/@EntryValue" value="All" type="string" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_ARGUMENT/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXTENDS_LIST/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_PARAMETER/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_ARGUMENT/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_PARAMETER/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_DECLARATIONS/@EntryValue" value="0" type="int" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_ACCESS_SPECIFIERS_FROM_CLASS/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CLASS_MEMBERS_FROM_ACCESS_SPECIFIERS/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/LINE_BREAK_AFTER_COLON_IN_MEMBER_INITIALIZER_LISTS/@EntryValue" value="ON_SINGLE_LINE" type="string" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/MEMBER_INITIALIZER_LIST_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_NAMESPACE_DEFINITIONS_ON_SAME_LINE/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_COLON/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_COLON/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_METHOD/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_NESTED_DECLARATOR/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_METHOD/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_METHOD/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_METHOD/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BETWEEN_CLOSING_ANGLE_BRACKETS_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_DECLARATION_PARENTHESES/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_BLOCKS/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_RPAR/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_RPAR/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_ARGUMENTS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_PARAMETERS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BREAK_TEMPLATE_DECLARATION/@EntryValue" value="LINE_BREAK" type="string" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/FREE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INVOCABLE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ANONYMOUS_METHOD_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INITIALIZER_BRACES/@EntryValue" value="END_OF_LINE_NO_SPACE" type="string" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_STYLE/@EntryValue" value="Space" type="string" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_SIZE/@EntryValue" value="4" type="int" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CONTINUOUS_LINE_INDENT/@EntryValue" value="Double" type="string" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TAB_WIDTH/@EntryValue" value="4" type="int" />
+    </RiderCodeStyleSettings>
+    <clangFormatSettings>
+      <option name="ENABLED" value="true" />
+    </clangFormatSettings>
+  </code_scheme>
+</component>
\ No newline at end of file

.idea/codeStyles/codeStyleConfig.xml

+<component name="ProjectCodeStyleConfiguration">
+  <state>
+    <option name="USE_PER_PROJECT_SETTINGS" value="true" />
+  </state>
+</component>
\ No newline at end of file

.idea/editor.xml

+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="BackendCodeEditorSettings">
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CDeclarationWithImplicitIntType/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CommentTypo/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=ConstevalIfIsAlwaysConstant/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAbstractClassWithoutSpecifier/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAbstractFinalClass/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAbstractVirtualFunctionCallInCtor/@EntryIndexedValue" value="ERROR" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAccessSpecifierWithNoDeclarations/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAwaiterTypeIsNotClass/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBooleanIncrementExpression/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatBadCode/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatLegacyCode/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatMixedArgs/@EntryIndexedValue" value="ERROR" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatTooFewArgs/@EntryIndexedValue" value="ERROR" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatTooManyArgs/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCStyleCast/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCVQualifierCanNotBeAppliedToReference/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassCanBeFinal/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassIsIncomplete/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassNeedsConstructorBecauseOfUninitializedMember/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCompileTimeConstantCanBeReplacedWithBooleanConstant/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConceptNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConditionalExpressionCanBeSimplified/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConstParameterInDeclaration/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConstValueFunctionReturnType/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCoroutineCallResolveError/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAArrayIndexOutOfBounds/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantConditions/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantFunctionResult/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantParameter/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFADeletedPointer/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAEndlessLoop/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAInfiniteRecursion/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAInvalidatedMemory/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALocalValueEscapesFunction/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALocalValueEscapesScope/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALoopConditionNotUpdated/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAMemoryLeak/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFANotInitializedField/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFANullDereference/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFATimeOver/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreachableCode/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreachableFunctionCall/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreadVariable/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnusedValue/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclarationHidesLocal/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclarationHidesUncapturedLocal/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclarationSpecifierWithoutDeclarators/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorDisambiguatedAsFunction/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorUsedBeforeInitialization/@EntryIndexedValue" value="ERROR" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultCaseNotHandledInSwitchStatement/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultInitializationWithNoUserConstructor/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultIsUsedAsIdentifier/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultedSpecialMemberFunctionIsImplicitlyDeleted/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeletingVoidPointer/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDependentTemplateWithoutTemplateKeyword/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDependentTypeWithoutTypenameKeyword/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeprecatedEntity/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeprecatedOverridenMethod/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeprecatedRegisterStorageClassSpecifier/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDereferenceOperatorLimitExceeded/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDiscardedPostfixOperatorResult/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDoxygenSyntaxError/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDoxygenUndocumentedParameter/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDoxygenUnresolvedReference/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEmptyDeclaration/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceCVQualifiersOrder/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceCVQualifiersPlacement/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceDoStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceForStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceFunctionDeclarationStyle/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceIfStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceNestedNamespacesStyle/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceOverridingDestructorStyle/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceOverridingFunctionStyle/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceTypeAliasCodeStyle/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceWhileStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEntityAssignedButNoRead/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEntityUsedOnlyInUnevaluatedContext/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnumeratorNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEqualOperandsInBinaryExpression/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEvaluationFailure/@EntryIndexedValue" value="ERROR" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppExplicitSpecializationInNonNamespaceScope/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppExpressionWithoutSideEffects/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFinalFunctionInFinalClass/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFinalNonOverridingVirtualFunction/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppForLoopCanBeReplacedWithWhile/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppForwardEnumDeclarationWithoutUnderlyingType/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionDoesntReturnValue/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionIsNotImplemented/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionResultShouldBeUsed/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionalStyleCast/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppHeaderHasBeenAlreadyIncluded/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppHiddenFunction/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppHidingFunction/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIdenticalOperandsInBinaryExpression/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIfCanBeReplacedByConstexprIf/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppImplicitDefaultConstructorNotAvailable/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIncompatiblePointerConversion/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIncompleteSwitchStatement/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInconsistentNaming/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIntegralToPointerConversion/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInvalidLineContinuation/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppJoinDeclarationAndAssignment/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLambdaCaptureNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableMayBeConst/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableMightNotBeInitialized/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableWithNonTrivialDtorIsNeverUsed/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLongFloat/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberFunctionMayBeConst/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberFunctionMayBeStatic/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberInitializersOrder/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMismatchedClassTags/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMissingIncludeGuard/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMissingKeywordThrow/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtAddressOfClassRValue/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtBindingRValueToLvalueReference/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtCopyElisionInCopyInitDeclarator/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtDoubleUserConversionInCopyInit/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtNotInitializedStaticConstLocalVar/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtReinterpretCastFromNullptr/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMultiCharacterLiteral/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMultiCharacterWideLiteral/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMustBePublicVirtualToImplementInterface/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMutableSpecifierOnReferenceMember/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNoDiscardExpression/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNodiscardFunctionWithoutReturnValue/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExceptionSafeResourceAcquisition/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExplicitConversionOperator/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExplicitConvertingConstructor/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonInlineFunctionDefinitionInHeaderFile/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonInlineVariableDefinitionInHeaderFile/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNotAllPathsReturnValue/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppObjectMemberMightNotBeInitialized/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppOutParameterMustBeWritten/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterMayBeConst/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterMayBeConstPtrOrRef/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterNamesMismatch/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterNeverUsed/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPassValueParameterByConstReference/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPointerConversionDropsQualifiers/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPointerToIntegralConversion/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPolymorphicClassWithNonVirtualPublicDestructor/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPossiblyErroneousEmptyStatements/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPossiblyUninitializedMember/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPossiblyUnintendedObjectSlicing/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrecompiledHeaderIsNotIncluded/@EntryIndexedValue" value="ERROR" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrecompiledHeaderNotFound/@EntryIndexedValue" value="ERROR" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrintfBadFormat/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrintfExtraArg/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrintfMissedArg/@EntryIndexedValue" value="ERROR" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrintfRiskyFormat/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrivateSpecialMemberFunctionIsNotImplemented/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRangeBasedForIncompatibleReference/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedefinitionOfDefaultArgumentInOverrideFunction/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantAccessSpecifier/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantBaseClassAccessSpecifier/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantBaseClassInitializer/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantBooleanExpressionArgument/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantCastExpression/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantComplexityInComparison/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantConditionalExpression/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantConstSpecifier/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantControlFlowJump/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantDereferencingAndTakingAddress/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantElaboratedTypeSpecifier/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantElseKeyword/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantElseKeywordInsideCompoundStatement/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantEmptyDeclaration/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantEmptyStatement/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantExportKeyword/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantFwdClassOrEnumSpecifier/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantInlineSpecifier/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantLambdaParameterList/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantMemberInitializer/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantNamespaceDefinition/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantParentheses/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantQualifier/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantQualifierADL/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantStaticSpecifierOnMemberAllocationFunction/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantStaticSpecifierOnThreadLocalLocalVariable/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantTemplateArguments/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantTemplateKeyword/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantTypenameKeyword/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantVoidArgumentList/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantZeroInitializerInAggregateInitialization/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReinterpretCastFromVoidPtr/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRemoveRedundantBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReplaceMemsetWithZeroInitialization/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReplaceTieWithStructuredBinding/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReturnNoValueInNonVoidFunction/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppSmartPointerVsMakeFunction/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppSomeObjectMembersMightNotBeInitialized/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppSpecialFunctionWithoutNoexceptSpecification/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticAssertFailure/@EntryIndexedValue" value="ERROR" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticDataMemberInUnnamedStruct/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticSpecifierOnAnonymousNamespaceMember/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStringLiteralToCharPointerConversion/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTabsAreDisallowed/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateArgumentsCanBeDeduced/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateParameterNeverUsed/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateParameterShadowing/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppThrowExpressionCanBeReplacedWithRethrow/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTooWideScope/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTooWideScopeInitStatement/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTypeAliasNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUninitializedDependentBaseClass/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUninitializedNonStaticDataMember/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnionMemberOfReferenceType/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaEndRegionDirective/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaRegionDirective/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnnamedNamespaceInHeaderFile/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnnecessaryWhitespace/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnsignedZeroComparison/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnusedIncludeDirective/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAlgorithmWithCount/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAssociativeContains/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAuto/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAutoForNumeric/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseElementsView/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseEraseAlgorithm/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseFamiliarTemplateSyntaxForGenericLambdas/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseRangeAlgorithm/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseStdSize/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseStructuredBinding/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseTypeTraitAlias/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUserDefinedLiteralSuffixDoesNotStartWithUnderscore/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUsingResultOfAssignmentAsCondition/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVariableCanBeMadeConstexpr/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVirtualFunctionCallInsideCtor/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVirtualFunctionInFinalClass/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVolatileParameterInDeclaration/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWarningDirective/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWrongIncludesOrder/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWrongSlashesInIncludeDirective/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppZeroConstantCanBeReplacedWithNullptr/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppZeroValuedExpressionUsedAsNullPointer/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=IdentifierTypo/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=IfStdIsConstantEvaluatedCanBeReplaced/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=StdIsConstantEvaluatedWillAlwaysEvaluateToConstant/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=StringLiteralTypo/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppClangFormat/EnableClangFormatSupport/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_ARGUMENT/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_BINARY_EXPRESSIONS_CHAIN/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_CALLS_CHAIN/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXPRESSION/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXTENDS_LIST/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_FOR_STMT/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_PARAMETER/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_ARGUMENT/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_PARAMETER/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTIPLE_DECLARATION/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_TERNARY/@EntryValue" value="ALIGN_ALL" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ANONYMOUS_METHOD_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_CLASS_DEFINITION/@EntryValue" value="1" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_DECLARATIONS/@EntryValue" value="0" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DECLARATION/@EntryValue" value="1" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DEFINITION/@EntryValue" value="1" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BREAK_TEMPLATE_DECLARATION/@EntryValue" value="LINE_BREAK" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CASE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CONTINUOUS_LINE_INDENT/@EntryValue" value="Double" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/FREE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_ACCESS_SPECIFIERS_FROM_CLASS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CASE_FROM_SWITCH/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CLASS_MEMBERS_FROM_ACCESS_SPECIFIERS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_COMMENT/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_SIZE/@EntryValue" value="4" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_STYLE/@EntryValue" value="Space" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INITIALIZER_BRACES/@EntryValue" value="END_OF_LINE_NO_SPACE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INT_ALIGN_EQ/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INVOCABLE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_CODE/@EntryValue" value="2" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_DECLARATIONS/@EntryValue" value="2" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_USER_LINEBREAKS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/LINE_BREAK_AFTER_COLON_IN_MEMBER_INITIALIZER_LISTS/@EntryValue" value="ON_SINGLE_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/MEMBER_INITIALIZER_LIST_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_INDENTATION/@EntryValue" value="All" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/OTHER_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_CATCH_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_ELSE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_NAMESPACE_DEFINITIONS_ON_SAME_LINE/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_WHILE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SIMPLE_BLOCK_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_PARAMS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_COLON/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_SEMICOLON/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_METHOD/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_NESTED_DECLARATOR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_METHOD/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_UNARY_OPERATOR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_COLON/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_SEMICOLON/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_METHOD/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_METHOD/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BETWEEN_CLOSING_ANGLE_BRACKETS_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_ARRAY_ACCESS_BRACKETS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_DECLARATION_PARENTHESES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_BLOCKS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_METHOD_PARENTHESES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPECIAL_ELSE_IF_TREATMENT/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TAB_WIDTH/@EntryValue" value="4" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TYPE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_BINARY_OPSIGN/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_ARGUMENTS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_RPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_RPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_TERNARY_OPSIGNS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_PARAMETERS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
+    <option name="/Default/CodeStyle/EditorConfig/EnableClangFormatSupport/@EntryValue" value="false" type="bool" />
+  </component>
+</project>
\ No newline at end of file

.idea/linkerhand-cpp-sdk.iml

+<?xml version="1.0" encoding="UTF-8"?>
+<module classpath="CMake" type="CPP_MODULE" version="4" />
\ No newline at end of file

.idea/misc.xml

+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="CMakePythonSetting">
+    <option name="pythonIntegrationState" value="YES" />
+  </component>
+  <component name="CMakeWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
+</project>
\ No newline at end of file

.idea/modules.xml

+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/linkerhand-cpp-sdk.iml" filepath="$PROJECT_DIR$/.idea/linkerhand-cpp-sdk.iml" />
+    </modules>
+  </component>
+</project>
\ No newline at end of file

.idea/vcs.xml

+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="" vcs="Git" />
+  </component>
+</project>
\ No newline at end of file

CMakeLists.txt

+cmake_minimum_required(VERSION 3.15)
+project(LinkerHand-CPP-SDK
+    VERSION 1.1.7
+    LANGUAGES CXX
+    DESCRIPTION "LinkerHand C++ SDK for robotic hand control"
+)
+
+if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
+    set(LIB_SUBDIR "x86_64")
+elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64|arm64")
+    set(LIB_SUBDIR "aarch64")
+else()
+    message(WARNING "Unknown architecture, defaulting to x86_64")
+    set(LIB_SUBDIR "x86_64")
+endif()
+
+#-----------------------------------------------------------------------------
+# LINKER_HAND_CPP_SDK
+#-----------------------------------------------------------------------------
+find_library(LINKER_HAND_LIB
+    NAMES linkerhand_cpp_sdk linkerhand_cpp
+    PATHS ${CMAKE_CURRENT_SOURCE_DIR}/lib/${LIB_SUBDIR}
+        /usr/local/lib/linkerhand-cpp-sdk/${LIB_SUBDIR}
+        /usr/lib/linkerhand-cpp-sdk/${LIB_SUBDIR}
+        ${CMAKE_INSTALL_PREFIX}/lib/linkerhand-cpp-sdk/${LIB_SUBDIR}
+    NO_DEFAULT_PATH
+)
+
+set(LINKER_HAND_INCLUDE_DIR
+    ${CMAKE_CURRENT_SOURCE_DIR}/include
+    /usr/local/include/linkerhand-cpp-sdk
+    /usr/include/linkerhand-cpp-sdk
+    ${CMAKE_INSTALL_PREFIX}/include/linkerhand-cpp-sdk
+)
+
+if(NOT LINKER_HAND_LIB)
+    message(FATAL_ERROR "linkerhand_cpp_sdk library not found!")
+endif()
+
+if(NOT LINKER_HAND_INCLUDE_DIR)
+    message(FATAL_ERROR "LinkerHand headers not found!")
+endif()
+
+message(STATUS "Found linkerhand_cpp_sdk library: ${LINKER_HAND_LIB}")
+message(STATUS "Found LinkerHand headers: ${LINKER_HAND_INCLUDE_DIR}")
+
+#-----------------------------------------------------------------------------
+# INCLUDE_DIRECTORIES
+#-----------------------------------------------------------------------------
+include_directories(
+    ${CMAKE_CURRENT_SOURCE_DIR}/include
+    ${LINKER_HAND_INCLUDE_DIR}
+)
+
+#-----------------------------------------------------------------------------
+# EXECUTABLE
+#-----------------------------------------------------------------------------
+add_executable(my_project src/main.cpp)
+target_link_libraries(my_project ${LINKER_HAND_LIB} pthread)
+
+add_executable(toolset_example examples/toolset_example.cpp)
+target_link_libraries(toolset_example ${LINKER_HAND_LIB} pthread)
+
+add_executable(action_group_show_l10 examples/action_group_show_l10.cpp)
+target_link_libraries(action_group_show_l10 ${LINKER_HAND_LIB} pthread)
+
+add_executable(o6_async_reader examples/o6_async_reader.cpp)
+target_link_libraries(o6_async_reader ${LINKER_HAND_LIB} pthread)
+
+#-----------------------------------------------------------------------------
+# INSTALL TARGETS
+#-----------------------------------------------------------------------------
+# 安装头文件
+install(DIRECTORY include/
+    DESTINATION include/linkerhand-cpp-sdk
+    FILES_MATCHING PATTERN "*.h"
+)
+
+# 安装库文件
+if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/lib/${LIB_SUBDIR})
+    install(DIRECTORY lib/${LIB_SUBDIR}/
+        DESTINATION lib/linkerhand-cpp-sdk/${LIB_SUBDIR}
+        FILES_MATCHING PATTERN "*.so*"
+    )
+endif()
+
+#-----------------------------------------------------------------------------
+# PACKAGE CONFIGURATION
+#-----------------------------------------------------------------------------
+include(CMakePackageConfigHelpers)
+
+# 创建包配置文件
+write_basic_package_version_file(
+    "${CMAKE_CURRENT_BINARY_DIR}/LinkerHandCPPSDKConfigVersion.cmake"
+    VERSION ${PROJECT_VERSION}
+    COMPATIBILITY AnyNewerVersion
+)
+
+# 设置包配置变量（用于 configure_file）
+set(PACKAGE_INCLUDE_INSTALL_DIR "include/linkerhand-cpp-sdk")
+set(PACKAGE_LIB_INSTALL_DIR "lib/linkerhand-cpp-sdk/${LIB_SUBDIR}")
+
+# 创建包配置文件模板
+configure_file(
+    "${CMAKE_CURRENT_SOURCE_DIR}/cmake/LinkerHandCPPSDKConfig.cmake.in"
+    "${CMAKE_CURRENT_BINARY_DIR}/LinkerHandCPPSDKConfig.cmake"
+    @ONLY
+)
+
+# 安装包配置文件
+install(FILES
+    "${CMAKE_CURRENT_BINARY_DIR}/LinkerHandCPPSDKConfig.cmake"
+    "${CMAKE_CURRENT_BINARY_DIR}/LinkerHandCPPSDKConfigVersion.cmake"
+    DESTINATION lib/cmake/LinkerHandCPPSDK
+)
+
+#-----------------------------------------------------------------------------
+# TESTING
+#-----------------------------------------------------------------------------
+# 添加选项以启用/禁用测试
+option(BUILD_TESTING "Build the testing tree" ON)
+
+# 如果启用测试，包含测试子目录
+if(BUILD_TESTING)
+    add_subdirectory(tests)
+endif()

LICENSE

+MIT License
+
+Copyright (c) 2026 灵心巧手（北京）科技有限公司
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+

README.md

+# LinkerHand-CPP-SDK
+
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
+[![Platform](https://img.shields.io/badge/Platform-Linux-blue.svg)](https://www.linux.org/)
+[![Architecture](https://img.shields.io/badge/Arch-x86__64%20%7C%20aarch64-lightgrey.svg)]()
+[![CI/CD](https://github.com/linker-bot/linkerhand-cpp-sdk/workflows/CI/CD/badge.svg)](https://github.com/linker-bot/linkerhand-cpp-sdk/actions)
+
+> 用于灵心巧手系列灵巧手的 C++ 软件开发工具包
+
+LinkerHand-CPP-SDK 是由灵心巧手（北京）科技有限公司开发的官方 C++ SDK，提供完整的 API 接口用于控制 O6、L6、L7、L10、L20、L21、L25 等型号的灵巧手设备。
+
+## 📋 目录
+
+- [特性](#-特性)
+- [系统要求](#-系统要求)
+- [快速开始](#-快速开始)
+- [安装](#-安装)
+- [使用示例](#-使用示例)
+- [API 文档](#-api-文档)
+- [通信协议](#-通信协议)
+- [项目结构](#-项目结构)
+- [构建项目](#-构建项目)
+- [故障排查](#-故障排查)
+- [常见问题](#-常见问题)
+- [贡献](#-贡献)
+- [许可证](#-许可证)
+- [联系我们](#-联系我们)
+
+## ✨ 特性
+
+- 🎯 **多型号支持** - 支持 O6、L6、L7、L10、L20、L21、L25 等多种型号
+- 🚀 **简单易用** - 提供简洁的 C++ API 接口
+- 🔌 **通信协议** - 支持 CAN 通信
+- 📊 **传感器数据** - 实时获取压力、温度、电流等传感器数据
+- 🎮 **精确控制** - 支持关节位置、速度、扭矩的精确控制
+- 🔄 **实时反馈** - 获取关节状态、电机故障码等实时信息
+- 🛠️ **跨平台** - 支持 Linux (x86_64, aarch64)
+- 📚 **完整文档** - 提供详细的 API 文档和使用示例
+
+## 💻 系统要求
+
+- **操作系统**: Linux (Ubuntu 18.04+ 推荐)
+- **架构**: x86_64 或 aarch64
+- **编译器**: GCC 7.0+ 或 Clang 5.0+
+- **CMake**: 3.15+
+- **依赖**: pthread
+
+## 🚀 快速开始
+
+### 1. 克隆仓库
+
+```bash
+git clone https://github.com/linker-bot/linkerhand-cpp-sdk.git
+cd linkerhand-cpp-sdk
+```
+
+### 2. 使用安装脚本（推荐）
+
+```bash
+./script.sh
+```
+
+选择选项 `[2]: Install SDK` 进行构建和安装。
+
+### 3. 基本使用示例
+
+创建 `main.cpp` 文件：
+
+```cpp
+#include "LinkerHandApi.h"
+#include <iostream>
+#include <thread>
+#include <chrono>
+
+int main() {
+    // 初始化 L10 型号右手
+    LinkerHandApi hand(LINKER_HAND::L10, HAND_TYPE::RIGHT);
+
+    // 获取版本信息
+    std::cout << "SDK Version: " << hand.getVersion() << std::endl;
+
+    // 握拳动作
+    std::vector<uint8_t> fist_pose = {101, 60, 0, 0, 0, 0, 255, 255, 255, 51};
+    hand.fingerMove(fist_pose);
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+
+    // 张开动作
+    std::vector<uint8_t> open_pose = {255, 104, 255, 255, 255, 255, 255, 255, 255, 71};
+    hand.fingerMove(open_pose);
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+
+    return 0;
+}
+```
+
+### 4. 编译和运行
+
+创建 `CMakeLists.txt`:
+
+```cmake
+cmake_minimum_required(VERSION 3.15)
+project(LinkerHand-CPP-SDK)
+
+# 检测系统架构
+if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
+    set(LIB_SUBDIR "x86_64")
+elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64|arm64")
+    set(LIB_SUBDIR "aarch64")
+else()
+    message(WARNING "Unknown architecture, defaulting to x86_64")
+    set(LIB_SUBDIR "x86_64")
+endif()
+
+# 查找库文件
+find_library(LINKER_HAND_LIB
+    NAMES linkerhand_cpp_sdk
+    PATHS ${CMAKE_CURRENT_SOURCE_DIR}/lib/${LIB_SUBDIR}
+        /usr/local/lib/linkerhand-cpp-sdk/${LIB_SUBDIR}
+        /usr/lib/linkerhand-cpp-sdk/${LIB_SUBDIR}
+    NO_DEFAULT_PATH
+)
+
+# 查找头文件
+set(LINKER_HAND_INCLUDE_DIR
+    ${CMAKE_CURRENT_SOURCE_DIR}/include
+    /usr/local/include/linkerhand-cpp-sdk
+    /usr/include/linkerhand-cpp-sdk
+)
+
+if(NOT LINKER_HAND_LIB)
+    message(FATAL_ERROR "linkerhand_cpp_sdk library not found!")
+endif()
+
+# 包含头文件
+include_directories(${LINKER_HAND_INCLUDE_DIR})
+
+# 创建可执行文件
+add_executable(my_project main.cpp)
+target_link_libraries(my_project ${LINKER_HAND_LIB} pthread)
+```
+
+编译和运行：
+
+```bash
+mkdir build && cd build
+cmake ..
+make
+./my_project
+```
+
+## 📦 安装
+
+### 方法一：使用安装脚本（推荐）
+
+```bash
+./script.sh
+```
+
+脚本提供以下功能：
+- `[1]`: 构建 SDK
+- `[2]`: 构建并安装 SDK
+- `[3]`: 卸载 SDK
+- `[6]`: 运行示例程序
+
+### 方法二：手动安装
+
+```bash
+# 构建项目
+mkdir build && cd build
+cmake ..
+make
+
+# 安装（需要 root 权限）
+sudo make install
+```
+
+安装后，库文件将安装到：
+- 头文件: `/usr/local/include/linkerhand-cpp-sdk/`
+- 库文件: `/usr/local/lib/linkerhand-cpp-sdk/{arch}/`
+
+## 💡 使用示例
+
+### 基本控制
+
+```cpp
+#include "LinkerHandApi.h"
+#include <vector>
+#include <thread>
+#include <chrono>
+
+int main() {
+    // 创建 API 实例
+    LinkerHandApi hand(LINKER_HAND::L10, HAND_TYPE::RIGHT);
+
+    // 设置速度
+    std::vector<uint8_t> speed = {200, 200, 200, 200, 200};
+    hand.setSpeed(speed);
+
+    // 设置扭矩
+    std::vector<uint8_t> torque = {255, 255, 255, 255, 255};
+    hand.setTorque(torque);
+
+    // 控制手指运动
+    std::vector<uint8_t> pose = {128, 128, 128, 128, 128, 128, 128, 128, 128, 128};
+    hand.fingerMove(pose);
+
+    return 0;
+}
+```
+
+### 获取传感器数据
+
+```cpp
+// 获取压力数据
+auto force_data = hand.getForce();
+
+// 获取关节状态
+auto joint_state = hand.getState();
+
+// 获取电机温度
+auto temperature = hand.getTemperature();
+
+// 获取故障码
+auto fault_code = hand.getFaultCode();
+```
+
+### 使用弧度制控制（L10/L20/L21/L25）
+
+```cpp
+// 使用弧度制控制关节
+std::vector<double> pose_arc = {0.5, 0.3, 0.2, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
+hand.fingerMoveArc(pose_arc);
+
+// 获取弧度制关节状态
+auto state_arc = hand.getStateArc();
+```
+
+更多示例请参考 `examples/` 目录。详细说明请查看 [示例代码文档](examples/README.md)。
+
+## 📚 API 文档
+
+详细的 API 文档请参考：[API 参考文档](docs/API-Reference.md)
+
+文档包含：
+- 完整的 API 函数说明
+- 参数和返回值详解
+- 使用示例和注意事项
+- 版本兼容性说明
+
+### 命名规范
+
+项目已进行命名规范改进，详细信息请参考：[命名规范改进文档](docs/NAMING_IMPROVEMENTS.md)
+
+主要改进包括：
+- 统一命名空间结构（所有型号实现类迁移到 `linkerhand::hand` 命名空间）
+- 类名改进（不同型号使用不同类名，如 `L10Hand`, `L20Hand` 等）
+- 参数命名修正（`handJoint` → `handModel`）
+- 完全向后兼容（旧命名仍可使用）
+
+## 🧪 测试
+
+### 运行测试
+
+```bash
+# 构建并运行测试
+mkdir build && cd build
+cmake .. -DBUILD_TESTING=ON
+make
+ctest --output-on-failure
+```
+
+### 测试文档
+
+- **测试指南**: [测试文档](docs/TESTING.md)（待创建） - 详细的测试框架安装、编写和运行指南
+- **测试说明**: [测试目录 README](tests/README.md) - 测试结构和快速参考
+- **CI/CD 文档**: [CI/CD 文档](docs/CI-CD.md) - 持续集成和持续部署配置说明
+
+测试文档包含：
+- 测试框架安装和配置（Google Test）
+- 如何编写和运行测试
+- 测试覆盖率配置
+- 测试最佳实践
+- CI/CD 集成指南
+
+### 当前测试覆盖
+
+项目已包含以下单元测试：
+- ✅ `test_Common.cpp` - Common.h 枚举和类型测试
+- ✅ `test_RangeToArc.cpp` - 范围到弧度转换函数测试
+- ✅ `test_IHand_Utils.cpp` - IHand 工具函数测试
+- ✅ `test_CanFrame.cpp` - CAN 帧结构测试
+
+### 主要 API 接口
+
+#### 控制接口
+- `fingerMove()` - 设置关节位置（0-255）
+- `fingerMoveArc()` - 设置关节位置（弧度制）
+- `setSpeed()` - 设置运动速度
+- `setTorque()` - 设置扭矩限制
+
+#### 状态查询接口
+- `getState()` - 获取关节状态
+- `getStateArc()` - 获取关节状态（弧度制）
+- `getSpeed()` - 获取当前速度设置
+- `getTorque()` - 获取当前扭矩设置
+
+#### 传感器接口
+- `getForce()` - 获取压力数据（法向、切向、方向、接近感应）
+- `getTemperature()` - 获取电机温度
+- `getFaultCode()` - 获取电机故障码
+- `getCurrent()` - 获取电机电流
+
+## 🔌 通信协议
+
+SDK 支持以下通信协议：
+
+- **CAN** (`COMM_CAN_0`, `COMM_CAN_1`) - CAN 总线通信
+- **ModBus** (`COMM_MODBUS`) - ModBus 通信协议
+- **EtherCAT** (`COMM_ETHERCAT`) - EtherCAT 工业以太网通信
+
+默认使用 `COMM_CAN_0`。
+
+```cpp
+// 使用 CAN0 通信（默认）
+LinkerHandApi hand(LINKER_HAND::L10, HAND_TYPE::RIGHT);
+
+// 使用 CAN1 通信
+LinkerHandApi hand(LINKER_HAND::L10, HAND_TYPE::RIGHT, COMM_CAN_1);
+
+// 使用 ModBus 通信
+LinkerHandApi hand(LINKER_HAND::L10, HAND_TYPE::RIGHT, COMM_MODBUS);
+
+// 使用 EtherCAT 通信
+LinkerHandApi hand(LINKER_HAND::L10, HAND_TYPE::RIGHT, COMM_ETHERCAT);
+```
+
+## 📁 项目结构
+
+```
+linkerhand-cpp-sdk/
+├── include/              # 头文件
+│   ├── LinkerHandApi.h   # 主 API 接口
+│   ├── Common.h          # 通用定义
+│   └── ...
+├── lib/                  # 预编译库文件
+│   ├── x86_64/          # x86_64 架构库
+│   └── aarch64/         # aarch64 架构库
+├── examples/            # 示例代码
+│   ├── toolset_example.cpp
+│   └── action_group_show_l10.cpp
+├── docs/                # 文档
+│   ├── API-Reference.md    # API 参考文档
+│   ├── TROUBLESHOOTING.md   # 故障排查指南
+│   └── FAQ.md               # 常见问题解答
+├── src/                 # 源代码
+├── third_party/         # 第三方依赖
+├── CMakeLists.txt       # CMake 配置
+├── script.sh            # 安装脚本
+└── README.md            # 本文档
+```
+
+## 🔨 构建项目
+
+### 使用 CMake
+
+```bash
+mkdir build
+cd build
+cmake ..
+make
+```
+
+### 运行示例
+
+```bash
+cd build
+./toolset_example
+./action_group_show_l10
+```
+
+## 📖 关节映射表
+
+不同型号的关节映射关系：
+
+### L6/O6
+```
+["大拇指弯曲", "大拇指横摆", "食指弯曲", "中指弯曲", "无名指弯曲", "小拇指弯曲"]
+```
+
+### L7
+```
+["大拇指弯曲", "大拇指横摆", "食指弯曲", "中指弯曲", "无名指弯曲", "小拇指弯曲", "拇指旋转"]
+```
+
+### L10
+```
+["拇指根部", "拇指侧摆", "食指根部", "中指根部", "无名指根部", "小指根部", 
+ "食指侧摆", "无名指侧摆", "小指侧摆", "拇指旋转"]
+```
+
+### L20
+```
+["拇指根部", "食指根部", "中指根部", "无名指根部", "小指根部",
+ "拇指侧摆", "食指侧摆", "中指侧摆", "无名指侧摆", "小指侧摆",
+ "拇指横摆", "预留", "预留", "预留", "预留",
+ "拇指尖部", "食指末端", "中指末端", "无名指末端", "小指末端"]
+```
+
+### L21/L25
+详细映射请参考 [API 文档](docs/API-Reference.md)。
+
+## 🔧 故障排查
+
+如果遇到问题，请参考以下文档：
+
+- **[故障排查指南](docs/TROUBLESHOOTING.md)** - 常见问题的排查和解决方案
+  - 编译问题
+  - 运行时问题
+  - 通信问题
+  - API 使用问题
+  - 性能问题
+
+- **[常见问题解答](docs/FAQ.md)** - 常见问题的快速解答
+  - 安装相关问题
+  - 使用相关问题
+  - API 相关问题
+  - 兼容性问题
+  - 性能相关问题
+
+如果文档无法解决您的问题，请：
+1. 查看 [GitHub Issues](https://github.com/linker-bot/linkerhand-cpp-sdk/issues) 查看是否有类似问题
+2. 提交新的 Issue，并提供详细的错误信息和复现步骤
+3. 联系技术支持：[https://linkerbot.cn/aboutUs](https://linkerbot.cn/aboutUs)
+
+## ❓ 常见问题
+
+快速查找常见问题的答案，请参考 [常见问题解答 (FAQ)](docs/FAQ.md)。
+
+常见问题包括：
+- 如何安装和配置 SDK？
+- 如何选择通信接口？
+- 不同型号的关节数量是多少？
+- 如何提高性能？
+- 如何获取技术支持？
+
+## 🤝 贡献
+
+我们欢迎社区贡献！请参考以下步骤：
+
+1. Fork 本仓库
+2. 创建特性分支 (`git checkout -b feature/AmazingFeature`)
+3. 提交更改 (`git commit -m 'Add some AmazingFeature'`)
+4. 推送到分支 (`git push origin feature/AmazingFeature`)
+5. 开启 Pull Request
+
+更多贡献指南请参考 [CONTRIBUTING.md](CONTRIBUTING.md)（待创建）。
+
+## 📄 许可证
+
+本项目采用 [MIT 许可证](LICENSE)。
+
+Copyright (c) 2026 灵心巧手（北京）科技有限公司
+
+## 📞 联系我们
+
+- **官方网站**: [https://linkerbot.cn](https://linkerbot.cn)
+- **关于我们**: [https://linkerbot.cn/aboutUs](https://linkerbot.cn/aboutUs)
+- **GitHub**: [https://github.com/linker-bot/linkerhand-cpp-sdk](https://github.com/linker-bot/linkerhand-cpp-sdk)
+
+## 📝 更新日志
+
+详细的版本更新记录请参考 [CHANGELOG.md](CHANGELOG.md)（待创建）。
+
+---
+
+**注意**: 使用前请确保设备已正确连接并配置好通信接口。

cmake/LinkerHandCPPSDKConfig.cmake.in

+@PACKAGE_INIT@
+
+# 确定系统架构
+if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
+    set(LIB_SUBDIR "x86_64")
+elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64|arm64")
+    set(LIB_SUBDIR "aarch64")
+else()
+    set(LIB_SUBDIR "x86_64")
+endif()
+
+# 设置包含目录和库目录（相对于安装前缀）
+set(LinkerHandCPPSDK_INCLUDE_DIR "${CMAKE_CURRENT_LIST_DIR}/../../@PACKAGE_INCLUDE_INSTALL_DIR@")
+set(LinkerHandCPPSDK_LIB_DIR "${CMAKE_CURRENT_LIST_DIR}/../../@PACKAGE_LIB_INSTALL_DIR@")
+
+# 也支持从构建目录查找（用于开发时）
+list(APPEND LinkerHandCPPSDK_INCLUDE_DIR "${CMAKE_CURRENT_LIST_DIR}/../../include/linkerhand-cpp-sdk")
+list(APPEND LinkerHandCPPSDK_LIB_DIR "${CMAKE_CURRENT_LIST_DIR}/../../lib/linkerhand-cpp-sdk/${LIB_SUBDIR}")
+
+# 查找库文件
+find_library(LinkerHandCPPSDK_LIBRARY
+    NAMES linkerhand_cpp_sdk
+    PATHS ${LinkerHandCPPSDK_LIB_DIR}
+    NO_DEFAULT_PATH
+)
+
+# 检查库文件是否存在
+if(NOT LinkerHandCPPSDK_LIBRARY)
+    message(FATAL_ERROR "LinkerHandCPPSDK library not found in ${LinkerHandCPPSDK_LIB_DIR}")
+endif()
+
+# 设置变量供外部使用
+set(LinkerHandCPPSDK_FOUND TRUE)
+set(LinkerHandCPPSDK_VERSION @PROJECT_VERSION@)
+
+# 创建导入目标
+if(NOT TARGET LinkerHandCPPSDK::LinkerHandCPPSDK)
+    add_library(LinkerHandCPPSDK::LinkerHandCPPSDK SHARED IMPORTED)
+    set_target_properties(LinkerHandCPPSDK::LinkerHandCPPSDK PROPERTIES
+        IMPORTED_LOCATION "${LinkerHandCPPSDK_LIBRARY}"
+        INTERFACE_INCLUDE_DIRECTORIES "${LinkerHandCPPSDK_INCLUDE_DIR}"
+    )
+endif()
+
+check_required_components(LinkerHandCPPSDK)

docs/API-Reference.md

+# LinkerHand C++ API 参考文档
+
+## 目录
+
+- [API 概述](#api-概述)
+- [快速索引](#快速索引)
+- [构造函数](#构造函数)
+- [控制接口](#控制接口)
+- [状态查询接口](#状态查询接口)
+- [传感器接口](#传感器接口)
+- [电机管理接口](#电机管理接口)
+- [使用示例](#使用示例)
+- [注意事项](#注意事项)
+- [版本兼容性](#版本兼容性)
+
+---
+
+## API 概述
+
+LinkerHand C++ API 提供了完整的接口用于控制灵心巧手系列灵巧手设备。支持 O6、L6、L7、L10、L20、L21、L25 等多种型号，支持 CAN、ModBus、EtherCAT 等多种通信协议。
+
+---
+
+## 快速索引
+
+### 控制接口
+- [`fingerMove()`](#fingermove) - 设置关节位置（0-255）
+- [`fingerMoveArc()`](#fingermovearc) - 设置关节位置（弧度制）
+- [`setSpeed()`](#setspeed) - 设置运动速度
+- [`setTorque()`](#settorque) - 设置扭矩限制
+
+### 状态查询接口
+- [`getState()`](#getstate) - 获取关节状态
+- [`getStateArc()`](#getstatearc) - 获取关节状态（弧度制）
+- [`getSpeed()`](#getspeed) - 获取当前速度设置
+- [`getTorque()`](#gettorque) - 获取当前扭矩设置
+- [`getVersion()`](#getversion) - 获取版本信息
+
+### 传感器接口
+- [`getForce()`](#getforce) - 获取压力数据（法向、切向、方向、接近感应）
+- [`getTemperature()`](#gettemperature) - 获取电机温度
+- [`getFaultCode()`](#getfaultcode) - 获取电机故障码
+- [`getCurrent()`](#getcurrent) - 获取电机电流
+
+### 电机管理接口
+- [`setCurrent()`](#setcurrent) - 设置电流（仅 L20）
+- [`setEnable()`](#setenable) - 使能电机（仅 L25）
+- [`setDisable()`](#setdisable) - 禁用电机（仅 L25）
+- [`clearFaultCode()`](#clearfaultcode) - 清除故障码（仅 L20）
+
+---
+
+## 构造函数
+
+### LinkerHandApi
+
+```cpp
+LinkerHandApi(const LINKER_HAND &handModel, const HAND_TYPE &handType, const COMM_TYPE commType = COMM_CAN_0);
+```
+
+**功能描述**
+创建并初始化 LinkerHand API 实例。
+
+**参数说明**
+- `handModel` (LINKER_HAND): 机械手型号
+  - 可选值: `LINKER_HAND::O6`, `LINKER_HAND::L6`, `LINKER_HAND::L7`, `LINKER_HAND::L10`, `LINKER_HAND::L20`, `LINKER_HAND::L21`, `LINKER_HAND::L25`
+- `handType` (HAND_TYPE): 机械手类型
+  - `HAND_TYPE::LEFT` - 左手
+  - `HAND_TYPE::RIGHT` - 右手
+- `commType` (COMM_TYPE): 通信类型（可选，默认 `COMM_CAN_0`）
+  - `COMM_CAN_0` - CAN 总线 0
+  - `COMM_CAN_1` - CAN 总线 1
+  - `COMM_MODBUS` - ModBus 通信协议
+  - `COMM_ETHERCAT` - EtherCAT 工业以太网通信
+
+**返回值**
+无
+
+```cpp
+LinkerHandApi(const LINKER_HAND &handModel, const HAND_TYPE &handType,
+	             const std::string canChannel, const int baudrate);
+```
+
+**功能描述**
+创建并初始化 LinkerHand API 实例。
+
+**参数说明**
+- `handModel` (LINKER_HAND): 机械手型号
+  - 可选值: `LINKER_HAND::O6`, `LINKER_HAND::L6`, `LINKER_HAND::L7`, `LINKER_HAND::L10`, `LINKER_HAND::L20`, `LINKER_HAND::L21`, `LINKER_HAND::L25`
+- `handType` (HAND_TYPE): 机械手类型
+  - `HAND_TYPE::LEFT` - 左手
+  - `HAND_TYPE::RIGHT` - 右手
+- `canChannel` (std::string): can 通道名称
+- `baudrate` (int): can 波特率
+
+**返回值**
+无
+
+**使用示例**
+```cpp
+#include "LinkerHandApi.h"
+
+int main() {
+    // 创建 L10 型号右手实例，使用默认 CAN0 通信
+    LinkerHandApi hand(LINKER_HAND::L10, HAND_TYPE::RIGHT);
+
+    // 创建 L20 型号左手实例，使用 CAN1 通信
+    LinkerHandApi hand(LINKER_HAND::L20, HAND_TYPE::LEFT, COMM_CAN_1);
+
+    return 0;
+}
+```
+
+```cpp
+#include "LinkerHandApi.h"
+
+int main() {
+
+    // 调用API接口
+    LinkerHandApi hand(LINKER_HAND::O6, HAND_TYPE::LEFT, "can0", 115200);
+
+    // 获取版本信息
+    std::cout << hand.getVersion() << std::endl;
+
+    // 四指握拳
+    std::vector<uint8_t> fist_pose = {255, 255, 0, 0, 0, 0};
+    hand.fingerMove(fist_pose);
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+
+    // 四指张开
+    std::vector<uint8_t> open_pose = {255, 255, 255, 255, 255, 255};
+    hand.fingerMove(open_pose);
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+
+    return 0;
+}
+```
+
+**注意事项**
+- 构造函数会自动初始化通信接口
+- 确保在创建实例前，通信接口已正确配置（如 CAN 总线已启动、ModBus 端口已配置、EtherCAT 网络已初始化）
+- 不同型号支持的通信协议可能不同，请参考设备手册
+- 使用 CAN 总线前，确保总线已正确配置和启动
+- 使用 ModBus 前，确保串口或网络连接已建立
+- 使用 EtherCAT 前，确保 EtherCAT 主站已正确配置
+
+---
+
+## 控制接口
+
+### fingerMove
+
+```cpp
+void fingerMove(const std::vector<uint8_t> &pose);
+```
+
+**功能描述**
+设置关节的目标位置，用于控制手指的运动。使用 0-255 的数值范围。
+
+**参数说明**
+- `pose` (std::vector<uint8_t>): 关节位置数组
+  - **L6/O6**: 长度为 6
+  - **L7**: 长度为 7
+  - **L10**: 长度为 10
+  - **L20**: 长度为 20
+  - **L21**: 长度为 25
+  - **L25**: 长度为 25
+  - 取值范围: 0-255（0 表示完全弯曲，255 表示完全伸直）
+
+**返回值**
+无
+
+**关节映射关系**
+
+**L6/O6** (6 个关节):
+```
+[0] 大拇指弯曲
+[1] 大拇指横摆
+[2] 食指弯曲
+[3] 中指弯曲
+[4] 无名指弯曲
+[5] 小拇指弯曲
+```
+
+**L7** (7 个关节):
+```
+[0] 大拇指弯曲
+[1] 大拇指横摆
+[2] 食指弯曲
+[3] 中指弯曲
+[4] 无名指弯曲
+[5] 小拇指弯曲
+[6] 拇指旋转
+```
+
+**L10** (10 个关节):
+```
+[0] 拇指根部
+[1] 拇指侧摆
+[2] 食指根部
+[3] 中指根部
+[4] 无名指根部
+[5] 小指根部
+[6] 食指侧摆
+[7] 无名指侧摆
+[8] 小指侧摆
+[9] 拇指旋转
+```
+
+**L20** (20 个关节):
+```
+[0-4]  拇指根部、食指根部、中指根部、无名指根部、小指根部
+[5-9]  拇指侧摆、食指侧摆、中指侧摆、无名指侧摆、小指侧摆
+[10]   拇指横摆
+[11-14] 预留
+[15-19] 拇指尖部、食指末端、中指末端、无名指末端、小指末端
+```
+
+**L21** (25 个关节):
+```
+[0-4]  大拇指根部、食指根部、中指根部、无名指根部、小拇指根部
+[5-9]  大拇指侧摆、食指侧摆、中指侧摆、无名指侧摆、小拇指侧摆
+[10]   大拇指横滚
+[11-14] 预留
+[15]   大拇指中部
+[16-19] 预留
+[20-24] 大拇指指尖、食指指尖、中指指尖、无名指指尖、小拇指指尖
+```
+
+**L25** (25 个关节):
+```
+[0-4]  大拇指根部、食指根部、中指根部、无名指根部、小拇指根部
+[5-9]  大拇指侧摆、食指侧摆、中指侧摆、无名指侧摆、小拇指侧摆
+[10]   大拇指横滚
+[11-14] 预留
+[15-19] 大拇指中部、食指中部、中指中部、无名指中部、小拇指中部
+[20-24] 大拇指指尖、食指指尖、中指指尖、无名指指尖、小拇指指尖
+```
+
+**使用示例**
+```cpp
+// L10 握拳
+std::vector<uint8_t> fist_pose = {101, 60, 0, 0, 0, 0, 255, 255, 255, 51};
+hand.fingerMove(fist_pose);
+
+// L10 张开
+std::vector<uint8_t> open_pose = {255, 104, 255, 255, 255, 255, 255, 255, 255, 71};
+hand.fingerMove(open_pose);
+```
+
+**注意事项**
+- 数组长度必须与型号匹配，否则可能导致未定义行为
+- 建议在调用前先设置速度和扭矩
+- 动作执行需要时间，建议在调用后添加适当的延时
+
+---
+
+### fingerMoveArc
+
+```cpp
+void fingerMoveArc(const std::vector<double> &pose);
+```
+
+**功能描述**
+设置关节的目标位置，使用弧度制。适用于需要精确角度控制的场景。
+
+**参数说明**
+- `pose` (std::vector<double>): 关节位置数组（弧度制）
+  - **L10**: 长度为 10
+  - **L20**: 长度为 20
+  - **L21**: 长度为 25
+  - **L25**: 长度为 25
+  - 取值范围: 根据 URDF 限位定义
+
+**返回值**
+无
+
+**使用示例**
+```cpp
+// L10 使用弧度制控制
+std::vector<double> pose_arc = {0.5, 0.3, 0.2, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
+hand.fingerMoveArc(pose_arc);
+```
+
+**注意事项**
+- 仅支持 L10、L20、L21、L25 型号
+- 弧度值必须在 URDF 定义的限位范围内
+- 建议参考设备的 URDF 文件了解各关节的限位范围
+
+---
+
+### setSpeed
+
+```cpp
+void setSpeed(const std::vector<uint8_t> &speed);
+```
+
+**功能描述**
+设置手部的运动速度。速度值影响关节运动的快慢。
+
+**参数说明**
+- `speed` (std::vector<uint8_t>): 速度数组
+  - 长度: 5 个元素（对应 5 根手指）
+  - 取值范围: 0-255
+  - 值越大，运动速度越快
+
+**返回值**
+无
+
+**使用示例**
+```cpp
+// 设置中等速度
+std::vector<uint8_t> speed = {200, 200, 200, 200, 200};
+hand.setSpeed(speed);
+
+// 设置不同手指的不同速度
+std::vector<uint8_t> speed_custom = {255, 200, 200, 200, 150};
+hand.setSpeed(speed_custom);
+```
+
+**注意事项**
+- 速度设置会影响所有后续的 `fingerMove()` 调用
+- 建议在初始化时设置速度
+- 过高的速度可能导致运动不稳定
+
+---
+
+### setTorque
+
+```cpp
+void setTorque(const std::vector<uint8_t> &torque);
+```
+
+**功能描述**
+设置手部的扭矩限制。扭矩值影响手指的抓握力度。
+
+**参数说明**
+- `torque` (std::vector<uint8_t>): 扭矩数组
+  - 长度: 5 个元素（对应 5 根手指）
+  - 取值范围: 0-255
+  - 值越大，允许的最大扭矩越大
+
+**返回值**
+无
+
+**使用示例**
+```cpp
+// 设置最大扭矩
+std::vector<uint8_t> torque = {255, 255, 255, 255, 255};
+hand.setTorque(torque);
+
+// 设置较小的扭矩（轻柔抓握）
+std::vector<uint8_t> torque_light = {128, 128, 128, 128, 128};
+hand.setTorque(torque_light);
+```
+
+**注意事项**
+- 扭矩设置会影响所有后续的 `fingerMove()` 调用
+- 建议在初始化时设置扭矩
+- 过高的扭矩可能导致设备损坏，请谨慎设置
+
+---
+
+## 状态查询接口
+
+### getState
+
+```cpp
+std::vector<uint8_t> getState();
+```
+
+**功能描述**
+获取当前关节的状态信息，返回值为 0-255 的数值。
+
+**参数说明**  
+无
+
+**返回值**
+- `std::vector<uint8_t>`: 当前关节状态数组
+  - 长度: 根据型号不同（L10=10, L20=20, L21=25, L25=25）
+  - 取值范围: 0-255
+
+**使用示例**
+```cpp
+auto state = hand.getState();
+for (size_t i = 0; i < state.size(); i++) {
+    std::cout << "关节 " << i << ": " << static_cast<int>(state[i]) << std::endl;
+}
+```
+
+**注意事项**
+- 返回值反映的是当前关节的实际位置
+- 如果关节正在运动，返回值会持续变化
+
+---
+
+### getStateArc
+
+```cpp
+std::vector<double> getStateArc();
+```
+
+**功能描述**
+获取当前关节的状态信息，返回值为弧度制。
+
+**参数说明**  
+无
+
+**返回值**
+- `std::vector<double>`: 当前关节状态数组（弧度制）
+  - 长度: 根据型号不同（L10=10, L20=20, L21=25, L25=25）
+
+**使用示例**
+```cpp
+auto state_arc = hand.getStateArc();
+for (size_t i = 0; i < state_arc.size(); i++) {
+    std::cout << "关节 " << i << ": " << state_arc[i] << " 弧度" << std::endl;
+}
+```
+
+**注意事项**
+- 仅支持 L10、L20、L21、L25 型号
+- 返回值反映的是当前关节的实际位置（弧度制）
+
+---
+
+### getSpeed
+
+```cpp
+std::vector<uint8_t> getSpeed();
+```
+
+**功能描述**
+获取当前设置的速度值。
+
+**参数说明**  
+无
+
+**返回值**
+- `std::vector<uint8_t>`: 当前速度设置数组
+  - 长度: 5 个元素
+
+**使用示例**
+```cpp
+auto speed = hand.getSpeed();
+std::cout << "当前速度设置: ";
+for (auto s : speed) {
+    std::cout << static_cast<int>(s) << " ";
+}
+std::cout << std::endl;
+```
+
+---
+
+### getTorque
+
+```cpp
+std::vector<uint8_t> getTorque();
+```
+
+**功能描述**
+获取当前设置的最大扭矩值。
+
+**参数说明**  
+无
+
+**返回值**
+- `std::vector<uint8_t>`: 当前扭矩设置数组
+  - 长度: 5 个元素
+
+**使用示例**
+```cpp
+auto torque = hand.getTorque();
+std::cout << "当前扭矩设置: ";
+for (auto t : torque) {
+    std::cout << static_cast<int>(t) << " ";
+}
+std::cout << std::endl;
+```
+
+---
+
+### getVersion
+
+```cpp
+std::string getVersion();
+```
+
+**功能描述**
+获取当前软件或硬件的版本号。
+
+**参数说明**  
+无
+
+**返回值**
+- `std::string`: 版本号字符串
+
+**使用示例**
+```cpp
+std::string version = hand.getVersion();
+std::cout << "版本号: " << version << std::endl;
+```
+
+---
+
+## 传感器接口
+
+### getForce
+
+```cpp
+std::vector<std::vector<std::vector<uint8_t>>> getForce();
+```
+
+**功能描述**
+获取手部传感器的综合数据，包括法向压力、切向压力、切向方向和接近感应。
+
+**参数说明**  
+无
+
+**返回值**
+- `std::vector<std::vector<std::vector<uint8_t>>>`: 三维向量
+  - 第一维: 手指索引（0-4，对应拇指、食指、中指、无名指、小指）
+  - 第二维: 传感器类型（法向压力、切向压力、切向方向、接近感应）
+  - 第三维: 传感器数据矩阵
+
+**使用示例**
+```cpp
+auto force_data = hand.getForce();
+
+// 遍历每根手指
+for (size_t finger = 0; finger < force_data.size(); finger++) {
+    std::cout << "手指 " << finger << ":" << std::endl;
+    
+    // 遍历传感器类型
+    for (size_t sensor_type = 0; sensor_type < force_data[finger].size(); sensor_type++) {
+        std::cout << "  传感器类型 " << sensor_type << ": ";
+        
+        // 遍历传感器数据
+        for (auto value : force_data[finger][sensor_type]) {
+            std::cout << static_cast<int>(value) << " ";
+        }
+        std::cout << std::endl;
+    }
+}
+```
+
+**注意事项**
+- 返回值结构复杂，建议参考示例代码理解数据结构
+- 不同型号的传感器配置可能不同
+
+---
+
+### getTemperature
+
+```cpp
+std::vector<uint8_t> getTemperature();
+```
+
+**功能描述**
+获取电机的温度数据。
+
+**参数说明**  
+无
+
+**返回值**
+- `std::vector<uint8_t>`: 电机温度数组
+  - 长度: 根据型号不同
+  - 单位: 摄氏度（具体换算方式请参考设备手册）
+
+**使用示例**
+```cpp
+auto temperature = hand.getTemperature();
+for (size_t i = 0; i < temperature.size(); i++) {
+    std::cout << "电机 " << i << " 温度: " << static_cast<int>(temperature[i]) << std::endl;
+}
+```
+
+**注意事项**
+- 温度值可能需要根据设备手册进行换算
+- 建议定期检查温度，避免过热
+
+---
+
+### getFaultCode
+
+```cpp
+std::vector<uint8_t> getFaultCode();
+```
+
+**功能描述**
+获取电机的故障码。用于诊断设备故障。
+
+**参数说明**  
+无
+
+**返回值**
+- `std::vector<uint8_t>`: 故障码数组
+  - 长度: 根据型号不同
+  - 0 表示正常，非 0 表示存在故障
+
+**使用示例**
+```cpp
+auto fault_code = hand.getFaultCode();
+for (size_t i = 0; i < fault_code.size(); i++) {
+    if (fault_code[i] != 0) {
+        std::cout << "警告: 电机 " << i << " 故障码: " 
+                  << static_cast<int>(fault_code[i]) << std::endl;
+    }
+}
+```
+
+**注意事项**
+- 故障码的具体含义请参考设备手册
+- 出现故障码时，建议停止操作并检查设备
+
+---
+
+### getCurrent
+
+```cpp
+std::vector<uint8_t> getCurrent();
+```
+
+**功能描述**
+获取电机的当前电流值。
+
+**参数说明**  
+无
+
+**返回值**
+- `std::vector<uint8_t>`: 电流数组
+  - 长度: 根据型号不同
+  - 单位: 安培（具体换算方式请参考设备手册）
+
+**使用示例**
+```cpp
+auto current = hand.getCurrent();
+for (size_t i = 0; i < current.size(); i++) {
+    std::cout << "电机 " << i << " 电流: " << static_cast<int>(current[i]) << std::endl;
+}
+```
+
+**注意事项**
+- 电流值可能需要根据设备手册进行换算
+- 异常高的电流可能表示负载过大或故障
+
+---
+
+## 电机管理接口
+
+### setCurrent
+
+```cpp
+void setCurrent(const std::vector<uint8_t> &current);
+```
+
+**功能描述**
+设置电机的电流值。**目前仅支持 L20 型号。**
+
+**参数说明**
+- `current` (std::vector<uint8_t>): 电流数组
+  - 长度: 根据电机数量
+  - 取值范围: 请参考设备手册
+
+**返回值**
+无
+
+**使用示例**
+```cpp
+// 仅 L20 支持
+if (hand.handModel_ == LINKER_HAND::L20) {
+    std::vector<uint8_t> current = {100, 100, 100, 100, 100};
+    hand.setCurrent(current);
+}
+```
+
+**注意事项**
+- 仅支持 L20 型号
+- 电流设置需要谨慎，过高的电流可能损坏设备
+
+---
+
+### setEnable
+
+```cpp
+void setEnable(const std::vector<uint8_t> &enable = std::vector<uint8_t>(5, 0));
+```
+
+**功能描述**
+使能电机。**目前仅支持 L25 型号。**
+
+**参数说明**
+- `enable` (std::vector<uint8_t>): 使能数组（可选，默认全 0）
+  - 长度: 5 个元素
+  - 0 表示禁用，非 0 表示使能
+
+**返回值**
+无
+
+**使用示例**
+```cpp
+// 仅 L25 支持
+if (hand.handModel_ == LINKER_HAND::L25) {
+    std::vector<uint8_t> enable = {1, 1, 1, 1, 1}; // 使能所有手指
+    hand.setEnable(enable);
+}
+```
+
+**注意事项**
+- 仅支持 L25 型号
+- 默认参数为全 0（禁用状态）
+
+---
+
+### setDisable
+
+```cpp
+void setDisable(const std::vector<uint8_t> &disable = std::vector<uint8_t>(5, 1));
+```
+
+**功能描述**
+禁用电机。**目前仅支持 L25 型号。**
+
+**参数说明**
+- `disable` (std::vector<uint8_t>): 禁用数组（可选，默认全 1）
+  - 长度: 5 个元素
+  - 0 表示使能，非 0 表示禁用
+
+**返回值**
+无
+
+**使用示例**
+```cpp
+// 仅 L25 支持
+if (hand.handModel_ == LINKER_HAND::L25) {
+    std::vector<uint8_t> disable = {1, 1, 1, 1, 1}; // 禁用所有手指
+    hand.setDisable(disable);
+}
+```
+
+**注意事项**
+- 仅支持 L25 型号
+- 默认参数为全 1（禁用状态）
+
+---
+
+### clearFaultCode
+
+```cpp
+void clearFaultCode(const std::vector<uint8_t> &torque = std::vector<uint8_t>(5, 1));
+```
+
+**功能描述**
+清除电机的故障码。**目前仅支持 L20 型号。**
+
+**参数说明**
+- `torque` (std::vector<uint8_t>): 扭矩数组（可选，默认全 1）
+  - 长度: 5 个元素
+
+**返回值**
+无
+
+**使用示例**
+```cpp
+// 仅 L20 支持
+if (hand.handModel_ == LINKER_HAND::L20) {
+    hand.clearFaultCode();
+}
+```
+
+**注意事项**
+- 仅支持 L20 型号
+- 清除故障码前，请确保故障原因已解决
+
+---
+
+## 使用示例
+
+### 完整示例：基本控制流程
+
+```cpp
+#include "LinkerHandApi.h"
+#include <iostream>
+#include <thread>
+#include <chrono>
+
+int main() {
+    // 1. 初始化 API
+    LinkerHandApi hand(LINKER_HAND::L10, HAND_TYPE::RIGHT);
+
+    // 2. 获取版本信息
+    std::cout << "SDK Version: " << hand.getVersion() << std::endl;
+
+    // 3. 设置速度和扭矩
+    std::vector<uint8_t> speed = {200, 200, 200, 200, 200};
+    std::vector<uint8_t> torque = {255, 255, 255, 255, 255};
+    hand.setSpeed(speed);
+    hand.setTorque(torque);
+
+    // 4. 握拳动作
+    std::vector<uint8_t> fist_pose = {101, 60, 0, 0, 0, 0, 255, 255, 255, 51};
+    hand.fingerMove(fist_pose);
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+
+    // 5. 张开动作
+    std::vector<uint8_t> open_pose = {255, 104, 255, 255, 255, 255, 255, 255, 255, 71};
+    hand.fingerMove(open_pose);
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+
+    // 6. 获取状态信息
+    auto state = hand.getState();
+    std::cout << "当前关节状态: ";
+    for (auto s : state) {
+        std::cout << static_cast<int>(s) << " ";
+    }
+    std::cout << std::endl;
+
+    return 0;
+}
+```
+
+### 示例：使用弧度制控制（L10/L20/L21/L25）
+
+```cpp
+#include "LinkerHandApi.h"
+
+int main() {
+    LinkerHandApi hand(LINKER_HAND::L10, HAND_TYPE::RIGHT);
+
+    // 使用弧度制控制关节
+    std::vector<double> pose_arc = {0.5, 0.3, 0.2, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
+    hand.fingerMoveArc(pose_arc);
+
+    // 获取弧度制关节状态
+    auto state_arc = hand.getStateArc();
+    for (size_t i = 0; i < state_arc.size(); i++) {
+        std::cout << "关节 " << i << ": " << state_arc[i] << " 弧度" << std::endl;
+    }
+
+    return 0;
+}
+```
+
+### 示例：读取传感器数据
+
+```cpp
+#include "LinkerHandApi.h"
+#include <iostream>
+
+int main() {
+    LinkerHandApi hand(LINKER_HAND::L10, HAND_TYPE::RIGHT);
+
+    // 获取压力数据
+    auto force_data = hand.getForce();
+
+    // 获取电机温度
+    auto temperature = hand.getTemperature();
+
+    // 获取故障码
+    auto fault_code = hand.getFaultCode();
+
+    // 获取电流
+    auto current = hand.getCurrent();
+
+    // 处理数据...
+
+    return 0;
+}
+```
+
+---
+
+## 注意事项
+
+1. **初始化顺序**
+   - 建议在使用 API 前先设置速度和扭矩
+   - 确保通信接口已正确配置
+
+2. **参数范围**
+   - `fingerMove()` 的参数范围是 0-255
+   - `fingerMoveArc()` 的参数范围由 URDF 限位定义
+   - 速度和扭矩的范围是 0-255
+
+3. **型号差异**
+   - 不同型号支持的关节数量不同
+   - 部分功能仅特定型号支持（如 `setCurrent()` 仅 L20 支持）
+   - 请根据实际使用的型号调整代码
+
+4. **通信协议**
+   - 默认使用 CAN0，可通过构造函数参数修改
+   - 使用 CAN 总线前，确保总线已正确配置和启动
+   - 使用 ModBus 前，确保串口或网络连接已建立
+   - 使用 EtherCAT 前，确保 EtherCAT 主站已正确配置
+
+5. **错误处理**
+   - 建议定期检查故障码
+   - 出现故障时及时停止操作
+   - 温度过高时应暂停使用
+
+6. **性能考虑**
+   - 动作执行需要时间，建议添加适当的延时
+   - 频繁调用 API 可能影响性能
+   - 建议在循环中适当添加延时
+
+---
+
+## 版本兼容性
+
+### 支持的型号
+- ✅ O6
+- ✅ L6
+- ✅ L7
+- ✅ L10
+- ✅ L20
+- ✅ L21
+- ✅ L25
+
+### 功能支持矩阵
+
+| 功能 | O6 | L6 | L7 | L10 | L20 | L21 | L25 |
+|------|----|----|----|-----|-----|-----|-----|
+| `fingerMove()` | ✅ | ✅ | ✅ | ✅ | ✅ | ✅ | ✅ |
+| `fingerMoveArc()` | ❌ | ❌ | ❌ | ✅ | ✅ | ✅ | ✅ |
+| `setCurrent()` | ❌ | ❌ | ❌ | ❌ | ✅ | ❌ | ❌ |
+| `setEnable()` / `setDisable()` | ❌ | ❌ | ❌ | ❌ | ❌ | ❌ | ✅ |
+| `clearFaultCode()` | ❌ | ❌ | ❌ | ❌ | ✅ | ❌ | ❌ |
+
+### 通信协议支持
+- ✅ CAN (CAN0, CAN1)
+- ✅ ModBus
+- ✅ EtherCAT
+
+---
+
+## 获取帮助
+
+- **官方网站**: [https://linkerbot.cn](https://linkerbot.cn)
+- **技术支持**: [https://linkerbot.cn/aboutUs](https://linkerbot.cn/aboutUs)
+- **GitHub**: [https://github.com/linker-bot/linkerhand-cpp-sdk](https://github.com/linker-bot/linkerhand-cpp-sdk)
+- **故障排查**: 请参考 [故障排查指南](TROUBLESHOOTING.md)
+- **常见问题**: 请参考 [常见问题解答](FAQ.md)

docs/CI-CD.md

+# CI/CD 文档
+
+本文档介绍项目的持续集成和持续部署（CI/CD）配置。
+
+## 📋 目录
+
+- [概述](#概述)
+- [工作流配置](#工作流配置)
+- [触发条件](#触发条件)
+- [构建矩阵](#构建矩阵)
+- [作业说明](#作业说明)
+- [状态徽章](#状态徽章)
+- [故障排查](#故障排查)
+- [本地测试](#本地测试)
+
+## 概述
+
+项目使用 GitHub Actions 进行持续集成，自动执行以下任务：
+
+- ✅ 多平台构建（Linux x86_64）
+- ✅ 自动运行单元测试
+- ✅ 构建示例程序
+- ✅ 代码质量检查
+- ✅ 构建状态报告
+
+## 工作流配置
+
+CI/CD 工作流配置文件位于：`.github/workflows/ci.yml`
+
+### 主要特性
+
+- **多构建配置**: 支持 Release 和 Debug 构建
+- **并行测试**: 使用多核并行运行测试以加快速度
+- **缓存优化**: 缓存 CMake 构建文件以提高效率
+- **详细日志**: 提供详细的构建和测试输出
+
+## 触发条件
+
+工作流在以下情况下自动触发：
+
+1. **推送代码** - 推送到 `main`、`master` 或 `develop` 分支
+2. **Pull Request** - 创建或更新 PR 到 `main`、`master` 或 `develop` 分支
+3. **手动触发** - 通过 GitHub Actions 界面手动运行（`workflow_dispatch`）
+
+## 构建矩阵
+
+当前支持的构建配置：
+
+| 操作系统 | 架构 | 构建类型 | 说明 |
+|---------|------|---------|------|
+| Ubuntu Latest | x86_64 | Release | 主要构建配置 |
+| Ubuntu Latest | x86_64 | Debug | 调试构建配置 |
+| Ubuntu Latest | aarch64 | Release | ARM64 架构构建（使用 QEMU 模拟） |
+
+### 架构支持说明
+
+- **x86_64**: 原生支持，使用系统默认工具链
+- **aarch64**: 使用交叉编译工具链（`aarch64-linux-gnu-gcc`）和 QEMU 用户模式模拟运行测试
+  - 构建速度较慢（由于 QEMU 模拟）
+  - 测试并行度降低（使用 2 个并行任务）
+  - 确保库文件在 `lib/aarch64/` 目录下可用
+
+
+## 作业说明
+
+### 1. build-and-test
+
+**目的**: 构建项目并运行所有单元测试
+
+**步骤**:
+1. 检出代码
+2. 设置 QEMU（仅 aarch64 架构）
+3. 缓存 CMake 构建文件
+4. 安装构建依赖（CMake、GCC、Git 等，aarch64 需要交叉编译工具链）
+5. 验证工具链版本
+6. 配置 CMake（启用测试，aarch64 使用交叉编译配置）
+7. 构建项目
+8. 运行测试（使用 CTest，aarch64 通过 QEMU 运行）
+9. 显示测试结果和构建产物
+
+**架构特定说明**:
+- **x86_64**: 使用系统原生工具链，并行运行所有测试
+- **aarch64**: 使用 `aarch64-linux-gnu-gcc` 交叉编译，通过 QEMU 用户模式运行测试（并行度降低为 2）
+
+**输出**: 测试结果、构建的可执行文件信息
+
+### 2. build-examples
+
+**目的**: 验证示例程序可以成功构建
+
+**步骤**:
+1. 检出代码
+2. 安装构建依赖
+3. 配置 CMake（禁用测试）
+4. 构建示例程序（`toolset_example`、`action_group_show_l10`）
+5. 验证构建产物
+
+**依赖**: 等待 `build-and-test` 作业完成
+
+**输出**: 示例程序构建状态
+
+### 3. code-quality
+
+**目的**: 执行代码质量检查
+
+**检查项**:
+- 文件编码和换行符（确保使用 LF）
+- CMake 语法验证
+- 头文件包含检查
+
+**输出**: 代码质量报告
+
+### 4. summary
+
+**目的**: 生成 CI/CD 摘要报告
+
+**功能**: 汇总所有作业的状态，生成易于阅读的摘要
+
+## 状态徽章
+
+将以下 Markdown 代码添加到 README.md 以显示构建状态：
+
+```markdown
+![CI/CD](https://github.com/你的用户名/linkerhand-cpp-sdk/workflows/CI/CD/badge.svg)
+```
+
+或者使用 shields.io 样式：
+
+```markdown
+![CI/CD Status](https://img.shields.io/github/workflow/status/你的用户名/linkerhand-cpp-sdk/CI/CD?label=CI%2FCD)
+```
+
+## 故障排查
+
+### 常见问题
+
+#### 1. 测试失败
+
+**症状**: `build-and-test` 作业失败
+
+**可能原因**:
+- 代码更改导致测试失败
+- 测试超时
+- 依赖库未找到
+
+**解决方法**:
+1. 查看作业日志中的详细错误信息
+2. 在本地运行测试：`cd build && ctest --output-on-failure`
+3. 检查 CMake 配置是否正确
+
+#### 2. 构建失败
+
+**症状**: CMake 配置或构建步骤失败
+
+**可能原因**:
+- CMakeLists.txt 语法错误
+- 缺少依赖库
+- 编译器版本不兼容
+
+**解决方法**:
+1. 检查 CMake 输出日志
+2. 验证本地构建是否成功
+3. 检查依赖库路径配置
+
+#### 3. 缓存问题
+
+**症状**: 构建使用过期的缓存
+
+**解决方法**:
+1. 在 GitHub Actions 界面清除缓存
+2. 修改工作流中的缓存 key
+3. 手动触发工作流
+
+#### 4. aarch64 构建问题
+
+**症状**: aarch64 架构构建或测试失败
+
+**可能原因**:
+- QEMU 未正确设置
+- 交叉编译工具链未安装
+- 库文件路径不正确
+- QEMU 模拟运行失败
+
+**解决方法**:
+1. 检查 QEMU 设置步骤是否成功
+2. 验证交叉编译工具链是否安装：`aarch64-linux-gnu-gcc --version`
+3. 确认 `lib/aarch64/` 目录下存在库文件
+4. 检查测试可执行文件架构：`file build/test_*`
+5. 查看 QEMU 相关日志和错误信息
+6. 如果 QEMU 模拟失败，可以尝试减少并行任务数量
+
+### 查看日志
+
+1. 进入 GitHub 仓库
+2. 点击 "Actions" 标签
+3. 选择失败的工作流运行
+4. 查看具体作业的日志
+
+## 本地测试
+
+在提交代码前，建议在本地运行 CI/CD 流程：
+
+### 1. 安装依赖
+
+```bash
+sudo apt-get update
+sudo apt-get install -y \
+  build-essential \
+  cmake \
+  git \
+  libpthread-stubs0-dev
+```
+
+### 2. 运行完整构建和测试
+
+#### x86_64 架构
+
+```bash
+# 创建构建目录
+mkdir -p build
+cd build
+
+# 配置 CMake（启用测试，CMake 最低版本要求 3.15）
+cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=ON
+
+# 构建项目
+cmake --build . --config Release --parallel $(nproc)
+
+# 运行测试
+ctest --output-on-failure --parallel $(nproc)
+```
+
+#### aarch64 架构（交叉编译）
+
+```bash
+# 安装交叉编译工具链和 QEMU
+sudo apt-get update
+sudo apt-get install -y \
+  gcc-aarch64-linux-gnu \
+  g++-aarch64-linux-gnu \
+  qemu-user-static \
+  binfmt-support
+
+# 创建构建目录
+mkdir -p build
+cd build
+
+# 配置 CMake（交叉编译，CMake 最低版本要求 3.15）
+cmake .. \
+  -DCMAKE_BUILD_TYPE=Release \
+  -DBUILD_TESTING=ON \
+  -DCMAKE_SYSTEM_NAME=Linux \
+  -DCMAKE_SYSTEM_PROCESSOR=aarch64 \
+  -DCMAKE_C_COMPILER=aarch64-linux-gnu-gcc \
+  -DCMAKE_CXX_COMPILER=aarch64-linux-gnu-g++ \
+  -DCMAKE_FIND_ROOT_PATH=/usr/aarch64-linux-gnu
+
+# 构建项目
+cmake --build . --config Release --parallel $(nproc)
+
+# 运行测试（通过 QEMU）
+export QEMU_LD_PREFIX=/usr/aarch64-linux-gnu
+ctest --output-on-failure --parallel 2
+```
+
+### 3. 构建示例程序
+
+```bash
+cd build
+cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF
+cmake --build . --target toolset_example action_group_show_l10
+```
+
+### 4. 代码质量检查
+
+```bash
+# 检查文件编码
+find . -type f \( -name "*.cpp" -o -name "*.h" \) \
+  -exec file {} \; | grep -q "CRLF" && echo "发现 CRLF" || echo "✓ 使用 LF"
+
+# 验证 CMake 语法
+cmake --version
+mkdir -p /tmp/cmake-check
+cd /tmp/cmake-check
+cmake /path/to/project -Wno-dev
+```
+
+## 最佳实践
+
+1. **提交前测试**: 在本地运行测试确保通过
+2. **小步提交**: 频繁提交小改动，便于定位问题
+3. **查看日志**: 失败时仔细查看详细日志
+4. **更新文档**: 修改 CI/CD 配置时更新本文档
+5. **监控状态**: 定期检查构建状态，及时修复问题
+
+## 相关文档
+
+- [测试文档](tests/README.md) - 测试框架和运行指南
+- [构建文档](../README.md#构建项目) - 项目构建说明
+- [故障排查](TROUBLESHOOTING.md) - 常见问题解决方案
+
+## 贡献
+
+如果您想改进 CI/CD 配置：
+
+1. Fork 仓库
+2. 创建特性分支
+3. 修改 `.github/workflows/ci.yml`
+4. 测试您的更改
+5. 提交 Pull Request
+
+---
+
+**最后更新**: 2026-01-XX
+
+**注意**: 本文档描述了项目的 CI/CD 配置。如果您的项目尚未配置 CI/CD，可以参考本文档进行配置。实际的工作流配置文件位于 `.github/workflows/ci.yml`。

docs/Communication-Protocol-Guide.md

+本文整理 `linkerhand-cpp-sdk` 当前仓库中的通信协议、分层结构、实际使用情况，以及如何与外部设备尤其是机械臂联动。
+
+内容优先级遵循：
+
+- 头文件和工厂逻辑
+- 示例和 README
+- 文档说明
+
+如果某项结论来自头文件声明而非 `.so` 源码实现，本文会明确标注为“推断”。
+
+---
+
+## 1. 总览
+
+当前 SDK 对外暴露的通信类型枚举在 [include/Common.h](../include/Common.h) 中定义：
+
+- `COMM_CAN_0`
+- `COMM_CAN_1`
+- `COMM_MODBUS`
+- `COMM_ETHERCAT`
+
+见 [include/Common.h](../include/Common.h)。
+
+从公开说明看，仓库希望支持三类协议：
+
+- CAN
+- ModBus
+- EtherCAT
+
+
+---
+
+## 2. 通信分层
+
+### 2.1 对外 API 层
+
+业务代码通常从 `LinkerHandApi` 进入，构造时传入型号、左右手和通信类型：
+
+```cpp
+LinkerHandApi hand(LINKER_HAND::L10, HAND_TYPE::RIGHT, COMM_CAN_0);
+```
+
+这一层是业务层最应该依赖的统一入口。
+
+### 2.2 型号工厂层
+
+`HandFactory` 负责根据：
+
+- 手型号
+- 左/右手 ID
+- 通信方式
+
+实例化具体型号实现类。
+
+从 [include/HandFactory.h](../include/HandFactory.h) 当前逻辑可确认：
+
+- `CAN0/CAN1`：O6、L6、L7、L10、L20、L21、L25 都有分发路径
+- `COMM_MODBUS`：只有 `L10` 会走 `ModbusL10Hand`
+- `COMM_ETHERCAT`：枚举构造器会把通道映射为 `"ethercat"`，然后仍分发到各型号 `LxHand`
+
+这意味着：
+
+- “是否支持某协议”，先看 `HandFactory`
+- “是否真能跑通”，还要继续看底层总线工厂和对应实现
+
+### 2.3 底层传输抽象层
+
+仓库把通信抽象分成两类：
+
+- `ICanBus`
+  - 面向 `CAN` 风格的帧式通信
+  - 接口是 `send(data, can_id)` / `recv(id)`
+- `ICommunication`
+  - 面向 `ModBus` 这类寄存器式通信
+  - 接口是 `send(data, id, start_address, num)` / `recv(id, start_address, num)`
+
+对应文件：
+
+- [include/ICanBus.h](../include/ICanBus.h)
+- [include/ICommunication.h](../include/ICommunication.h)
+
+这两个抽象本身很关键，因为它解释了仓库当前对协议的建模方式：
+
+- CAN 和 EtherCAT 在这个仓库里都被包装成“类似 CAN 帧”的总线接口
+- ModBus 被单独建模成寄存器读写接口
+
+---
+
+## 3. 协议分类与当前使用情况
+
+## 3.1 CAN
+
+### 3.1.1 当前定位
+
+CAN 是当前仓库里最直接、最明确、最成熟的通信主路径。
+
+证据：
+
+- `COMM_CAN_0` / `COMM_CAN_1` 为一级枚举入口
+- `HandFactory` 对几乎所有型号都支持 CAN 分发
+- Linux 下有 `CanBus`
+- Windows 下有 `PCANBus`
+- 示例和 README 也都默认按 CAN 使用
+
+相关文件：
+
+- [include/HandFactory.h](../include/HandFactory.h)
+- [include/CanBusFactory.h](../include/CanBusFactory.h)
+- [include/CanBus.h](../include/CanBus.h)
+- [include/PCANBus.h](../include/PCANBus.h)
+
+### 3.1.2 平台划分
+
+Linux：
+
+- 使用 `CanBus`
+- 基于 Linux SocketCAN
+- 需要系统里存在 `can0`、`can1` 等接口
+
+Windows：
+
+- 使用 `PCANBus`
+- 依赖 `PCANBasic`
+
+### 3.1.3 典型用法
+
+默认构造：
+
+```cpp
+LinkerHandApi hand(LINKER_HAND::L10, HAND_TYPE::RIGHT);
+```
+
+显式指定 CAN1：
+
+```cpp
+LinkerHandApi hand(LINKER_HAND::L10, HAND_TYPE::RIGHT, COMM_CAN_1);
+```
+
+显式指定字符串通道：
+
+```cpp
+LinkerHandApi hand(LINKER_HAND::O6, HAND_TYPE::RIGHT, "can0", 1000000);
+```
+
+### 3.1.4 适用型号
+
+从工厂头文件可直接确认，以下型号存在 CAN 路径：
+
+- O6
+- L6
+- L7
+- L10
+- L20
+- L21
+- L25
+
+### 3.1.5 使用建议
+
+- 如果你只是要把灵巧手跑起来，优先选 CAN
+- Linux 上先确保 `can0/can1` 被正确配置
+- 同一进程内多个对象同时用 CAN 时，要明确每个对象的通道和设备 ID
+
+### 3.1.6 常见检查项
+
+Linux 常见检查：
+
+```bash
+ip link show can0
+sudo ip link set can0 type can bitrate 1000000
+sudo ip link set can0 up
+candump can0
+```
+
+---
+
+## 3.2 ModBus
+
+### 3.2.1 当前定位
+
+ModBus 在这个仓库里不是通用主路径，而是一个明显带条件限制的接入分支。
+
+从 [include/HandFactory.h](../include/HandFactory.h) 可确认：
+
+- `COMM_MODBUS` 只会在 `USE_RMAN` 打开时生效
+- 当前只有 `L10` 会被分发到 `ModbusL10Hand`
+- 其他型号走 `COMM_MODBUS` 会报错
+
+从 [include/ModbusLinkerHandL10.h](../include/ModbusLinkerHandL10.h) 可确认：
+
+- `ModbusL10Hand` 继承自 `IHand`
+- 内部通信对象是 `Communication::ModBus`
+
+### 3.2.2 与瑞尔曼关联的modbus
+
+`ModBus` 类并不是一个纯串口/纯 TCP 客户端实现。它直接持有：
+
+- `rm_robot_handle *robot_handle`
+- `RM_Service robotic_arm`
+
+见 [include/ModBus.h](../include/ModBus.h)。
+
+这说明当前仓库里的 ModBus 路径，设计上是通过睿尔曼机械臂 SDK 做中转，而不是一个完全独立的通用 ModBus 栈。
+
+### 3.2.3 当前可确认的支持范围
+
+
+- `L10 + USE_RMAN + COMM_MODBUS`
+
+
+### 3.2.4 使用方式
+
+表面 API 用法是：
+
+```cpp
+LinkerHandApi hand(LINKER_HAND::L10, HAND_TYPE::RIGHT, COMM_MODBUS);
+```
+
+
+### 3.2.5 适合什么场景
+
+适合：
+
+- 灵巧手挂在睿尔曼机械臂末端
+- 由机械臂控制器充当 ModBus 主站
+- 想通过机械臂统一控制末端设备
+
+不适合直接假设为：
+
+- 任意型号都能直接串口 ModBus 接入
+- 不依赖机械臂环境即可独立运行
+
+---
+
+## 3.3 EtherCAT
+
+### 3.3.1 当前定位
+
+仓库里存在 `EtherCAT` 类，也存在 `COMM_ETHERCAT` 枚举和 README 说明，所以“目标能力”上 EtherCAT 是被纳入设计范围的。
+
+相关文件：
+
+- [include/EtherCAT.h](../include/EtherCAT.h)
+- [include/HandFactory.h](../include/HandFactory.h)
+- [README.md](../README.md)
+
+### 3.3.2 公开头文件能确认什么
+
+从 [include/EtherCAT.h](../include/EtherCAT.h) 可确认：
+
+- 它继承自 `ICanBus`
+- 使用 `ecrt.h`
+- 内部定义了 PDO 映射
+- 包含位置、速度、力矩等目标/实际值字段
+
+说明它的设计目标不是“把 EtherCAT 重新包装成 ModBus”，而是用一个与 `ICanBus` 兼容的接口去承载 EtherCAT 读写。
+
+
+
+## 4. 支持矩阵
+
+基于当前头文件，建议按下面理解：
+
+| 协议 | 公开枚举入口 | 当前头文件可确认的型号支持 | 运行依赖 | 当前稳定性判断 |
+|---|---|---|---|---|
+| CAN | `COMM_CAN_0` / `COMM_CAN_1` | O6、L6、L7、L10、L20、L21、L25 | Linux SocketCAN 或 Windows PCAN | 最高 |
+| ModBus | `COMM_MODBUS` | 仅 L10 | `USE_RMAN` + 睿尔曼机械臂 SDK | 条件可用 |
+| EtherCAT | `COMM_ETHERCAT` | 工厂层面对多型号放行 | `USE_ETHERCAT` + EtherCAT 主站环境 | 需额外验证 |
+
+---
+
+## 5. 与机械臂通讯的几种方式
+
+这里的“和机械臂实现通讯”至少有三种不同语义，实际工程里不要混淆。
+
+## 5.1 方式 A：PC 直接控制机械手，机械臂单独控制
+
+架构：
+
+- 上位机进程 A 控制灵巧手
+- 上位机进程 B 或同进程另一模块控制机械臂
+- 两边在应用层做同步
+
+特点：
+
+- 结构最清晰
+- 灵巧手协议和机械臂协议完全解耦
+- 最适合调试
+
+适用：
+
+- 灵巧手走 CAN
+- 机械臂走自身 TCP/IP SDK
+- 需要先分别验证两边
+
+## 5.2 方式 B：通过睿尔曼机械臂末端生态协议接入灵巧手
+
+这是仓库里最值得关注的机械臂联动路径。
+
+RM SDK 公开接口支持：
+
+- `rm_set_rm_plus_mode`
+- `rm_set_rm_plus_touch`
+- `rm_get_rm_plus_base_info`
+- `rm_get_rm_plus_state_info`
+
+见 [third_party/Robotic_Arm/include/rm_interface.h](../third_party/Robotic_Arm/include/rm_interface.h)。
+
+同时，RM 的实时 UDP 上报结构 `rm_realtime_arm_joint_state_t` 里直接带有：
+
+- `rm_plus_state`
+- `plus_base_info`
+- `plus_state_info`
+
+见 [third_party/Robotic_Arm/include/rm_define.h](../third_party/Robotic_Arm/include/rm_define.h)。
+
+这意味着：
+
+- 机械臂控制器可以把末端设备状态纳入统一实时上报
+- 末端灵巧手的基础信息、实时位置、电流、触觉、力矩等都有统一结构可读
+
+`rm_plus_base_info_t` 里明确包含：
+
+- 是否支持力控 `force`
+- 是否支持触觉 `touch`
+- 触觉数量 `touch_num`
+
+`rm_plus_state_info_t` 里明确包含：
+
+- `pos`
+- `speed`
+- `angle`
+- `current`
+- `normal_force`
+- `tangential_force`
+- `touch_data`
+- `force`
+
+这条路径特别适合：
+
+- 灵巧手作为机械臂末端执行器
+- 需要机械臂和手的状态在同一条实时通道里统一采集
+
+## 5.3 方式 C：通过机械臂的 Modbus RTU / TCP 主站能力访问末端设备
+
+RM SDK 还公开了更底层的外设通信接口，包括：
+
+- `rm_set_controller_rs485_mode`
+- `rm_set_tool_rs485_mode`
+- `rm_read_modbus_rtu_*`
+- `rm_write_modbus_rtu_*`
+- `rm_read_modbus_tcp_*`
+- `rm_write_modbus_tcp_*`
+
+见 [third_party/Robotic_Arm/include/rm_interface.h](../third_party/Robotic_Arm/include/rm_interface.h)。
+
+其中关键点：
+
+- 控制器端 RS485 可配置为 Modbus RTU 主站/从站
+- 工具端 RS485 可配置为 `RTU 主站 / 灵巧手模式 / 夹爪模式`
+
+这说明机械臂控制器本身就能承担末端总线主站角色。
+
+这条路径适合：
+
+- 你明确知道末端设备的寄存器协议
+- 你希望通过机械臂统一做外设接入
+- 你不想让 PC 额外直连末端设备
+
+---
+
+## 6. 推荐的机械臂联动方案
+
+## 6.1 如果目标是“尽快跑通”
+
+推荐：
+
+- 灵巧手：CAN
+- 机械臂：RM 自身 TCP/IP SDK
+- 在上位机应用层做动作编排
+
+原因：
+
+- 调试边界清晰
+- 出问题时容易定位是手、臂还是协同逻辑
+
+## 6.2 如果目标是“机械臂统一管理末端设备”
+
+推荐优先顺序：
+
+1. 末端生态协议 `rm_plus`
+2. 工具端 RS485 + Modbus RTU
+3. 控制器端 Modbus TCP/RTU
+
+原因：
+
+- `rm_plus` 已经把“灵巧手是末端设备”这个语义内建进机械臂 SDK
+- 还能直接得到触觉、力矩、状态等统一数据结构
+
+## 6.3 如果目标是“仓库内直接复用现有 ModBus 手实现”
+
+当前只能保守地按下面理解：
+
+- 型号：L10
+- 前提：`USE_RMAN`
+- 路径：`LinkerHandApi(..., COMM_MODBUS)`
+
+如果你的手不是 L10，当前仓库不建议直接假设可以复用这条路径。
+
+---
+
+## 7. 接入流程建议
+
+## 7.1 CAN 直连灵巧手
+
+1. 配置 `can0/can1`
+2. 用 `LinkerHandApi(..., COMM_CAN_0)` 或字符串 `"can0"` 创建设备
+3. 先读版本、状态、故障码
+4. 再做动作和传感采集
+
+## 7.2 通过机械臂末端生态协议接入
+
+1. `rm_init(...)`
+2. `rm_create_robot_arm(ip, port)`
+3. 开启 `rm_plus` 模式
+4. 如需要触觉，设置 `rm_set_rm_plus_touch(...)`
+5. 读取 `rm_get_rm_plus_base_info(...)`
+6. 周期性读取 `rm_get_rm_plus_state_info(...)` 或启用实时 UDP 推送
+
+这个流程是从头文件能力推导出的推荐路径。
+
+## 7.3 通过机械臂 Modbus 主站访问末端设备
+
+1. 建立机械臂连接
+2. 设置控制器端或工具端 RS485 模式
+3. 准备 RTU/TCP 参数结构体
+4. 用 `rm_read_modbus_*` / `rm_write_modbus_*` 读写设备
+5. 在应用层把寄存器语义映射成手的业务语义
+
+---
+
+## 8. 当前仓库里的限制和坑
+
+## 8.1 EtherCAT 头文件路径存在可疑点
+
+`CanBusFactory` 当前 Linux 分支会直接返回 `CanBus`，导致 `EtherCAT` 分支逻辑看起来不可达。
+
+建议：
+
+- 不要只看 README 就认为 EtherCAT 已稳定可用
+- 真要落地 EtherCAT，先单独修这一层
+
+## 8.2 ModBus 不是“全型号通用”
+
+当前工厂里 ModBus 只给了 `L10` 路径，且依赖 `USE_RMAN`。
+
+## 8.3 字符串构造器与枚举构造器能力不完全一致
+
+从 `HandFactory` 可见：
+
+- 枚举构造器会把 `COMM_ETHERCAT` 映射成 `"ethercat"`
+- 字符串构造器仅当字符串里包含 `"can"` 才走 CAN 路径
+- 字符串 `"ethercat"` 当前没有对应分支
+
+因此：
+
+- 若你要尝试 EtherCAT，不应假设字符串重载一定能工作
+
+## 8.4 大量实现封装在预编译库中
+
+仓库很多核心行为在 `.so` 中，头文件只能说明：
+
+- 有这个接口
+- 有这条调用路径
+
+但不能 100% 证明：
+
+- 现场设备一定可用
+- 某些组合一定完全实现
+
+---
+
+## 9. 实际选型建议
+
+如果你的目标是：
+
+- 单独控制手
+- 快速验证功能
+- 先把手跑通
+
+选：
+
+- CAN
+
+如果你的目标是：
+
+- 手挂在睿尔曼机械臂末端
+- 希望机械臂统一管理末端设备
+- 需要联合采集末端实时状态
+
+优先选：
+
+- `rm_plus` 末端生态协议
+
+如果你的目标是：
+
+- 明确基于寄存器协议接入末端
+- 想复用机械臂的 RS485 / Modbus 能力
+
+选：
+
+- 工具端 RS485 + Modbus RTU
+- 或控制器端 Modbus TCP/RTU
+
+如果你的目标是：
+
+- 工业现场总线统一化
+- 已经有 EtherCAT 主站体系
+
+可以评估：
+
+- EtherCAT
+
+但在当前仓库里应先补通信层验证，不建议直接投入业务。
+
+---
+
+## 10. 一页结论
+
+- 现阶段最稳的主路径是 CAN。
+- ModBus 在这个仓库里是“依赖睿尔曼机械臂 SDK 的 L10 特化路径”，不是全型号通用路径。
+- EtherCAT 在设计上被纳入支持范围，但当前头文件分发逻辑存在疑点，落地前必须补验证。
+- 如果要和机械臂联动，最值得优先考虑的是 RM 的 `rm_plus` 末端生态协议，因为它已经把末端设备状态、触觉、力矩和实时上报结构统一起来了。
+

docs/FAQ.md

+# 常见问题解答 (FAQ)
+
+本文档回答 LinkerHand-CPP-SDK 的常见问题。
+
+## 目录
+
+- [安装相关问题](#安装相关问题)
+- [使用相关问题](#使用相关问题)
+- [API 相关问题](#api-相关问题)
+- [兼容性问题](#兼容性问题)
+- [性能相关问题](#性能相关问题)
+- [其他问题](#其他问题)
+
+---
+
+## 安装相关问题
+
+### Q1: 如何安装 SDK？
+
+**A**: 有两种安装方式：
+
+**方法一：使用安装脚本（推荐）**
+```bash
+./script.sh
+# 选择选项 [2]: Install SDK
+```
+
+**方法二：手动安装**
+```bash
+mkdir build && cd build
+cmake ..
+make
+sudo make install
+```
+
+详细说明请参考 [README.md](../README.md#安装)。
+
+---
+
+### Q2: 安装后找不到库文件怎么办？
+
+**A**: 检查以下几点：
+
+1. **确认安装路径**:
+   ```bash
+   ls /usr/local/lib/linkerhand-cpp-sdk/
+   ```
+
+2. **检查架构匹配**:
+   ```bash
+   uname -m  # 查看系统架构
+   ls lib/x86_64/  # 或 lib/aarch64/
+   ```
+
+3. **设置库路径**:
+   ```bash
+   export LD_LIBRARY_PATH=/usr/local/lib/linkerhand-cpp-sdk/x86_64:$LD_LIBRARY_PATH
+   ```
+
+4. **更新动态链接库缓存**:
+   ```bash
+   sudo ldconfig
+   ```
+
+---
+
+### Q3: 支持哪些操作系统和架构？
+
+**A**: 
+- **操作系统**: Linux (Ubuntu 18.04+ 推荐)
+- **架构**: x86_64、aarch64
+- **编译器**: GCC 7.0+ 或 Clang 5.0+
+- **CMake**: 3.11+
+---
+
+### Q4: 如何卸载 SDK？
+
+**A**: 使用安装脚本：
+```bash
+./script.sh
+# 选择选项 [3]: Uninstall SDK
+```
+
+或手动删除：
+```bash
+sudo rm -rf /usr/local/include/linkerhand-cpp-sdk
+sudo rm -rf /usr/local/lib/linkerhand-cpp-sdk
+```
+
+---
+
+## 使用相关问题
+
+### Q5: 如何快速开始使用 SDK？
+
+**A**: 参考以下步骤：
+
+1. **创建项目文件**:
+   ```cpp
+   // main.cpp
+   #include "LinkerHandApi.h"
+   #include <iostream>
+   
+   int main() {
+       LinkerHandApi hand(LINKER_HAND::L10, HAND_TYPE::RIGHT);
+       std::cout << "Version: " << hand.getVersion() << std::endl;
+       return 0;
+   }
+   ```
+
+2. **创建 CMakeLists.txt**:
+   ```cmake
+   cmake_minimum_required(VERSION 3.5)
+   project(MyProject)
+   
+   # 查找库和头文件
+   find_library(LINKER_HAND_LIB linkerhand_cpp_sdk
+       PATHS /usr/local/lib/linkerhand-cpp-sdk/x86_64)
+   include_directories(/usr/local/include/linkerhand-cpp-sdk)
+   
+   add_executable(my_project main.cpp)
+   target_link_libraries(my_project ${LINKER_HAND_LIB} pthread)
+   ```
+
+3. **编译和运行**:
+   ```bash
+   mkdir build && cd build
+   cmake ..
+   make
+   ./my_project
+   ```
+
+详细说明请参考 [README.md](../README.md#快速开始)。
+
+---
+
+### Q6: 如何选择正确的通信接口？
+
+**A**: 根据您的硬件配置选择：
+
+- **CAN 总线**: 默认使用 `COMM_CAN_0`，如果有多个 CAN 接口可使用 `COMM_CAN_1`
+- **ModBus**: 使用 `COMM_MODBUS` 进行 ModBus 通信
+- **EtherCAT**: 使用 `COMM_ETHERCAT` 进行 EtherCAT 工业以太网通信
+
+```cpp
+// CAN0（默认）
+LinkerHandApi hand(LINKER_HAND::L10, HAND_TYPE::RIGHT);
+
+// CAN1
+LinkerHandApi hand(LINKER_HAND::L10, HAND_TYPE::RIGHT, COMM_CAN_1);
+
+// ModBus
+LinkerHandApi hand(LINKER_HAND::L10, HAND_TYPE::RIGHT, COMM_MODBUS);
+
+// EtherCAT
+LinkerHandApi hand(LINKER_HAND::L10, HAND_TYPE::RIGHT, COMM_ETHERCAT);
+```
+
+
+---
+
+### Q7: 如何配置通信接口？
+
+**A**: 根据不同的通信协议进行配置：
+
+#### CAN 总线配置
+
+在 Linux 系统中配置 CAN 总线：
+
+```bash
+# 加载 CAN 模块
+sudo modprobe can
+sudo modprobe can_raw
+sudo modprobe vcan  # 虚拟 CAN（用于测试）
+
+# 配置 CAN 接口
+sudo ip link set can0 type can bitrate 1000000
+sudo ip link set can0 up
+
+# 查看 CAN 接口状态
+ip link show can0
+
+# 测试 CAN 通信
+cansend can0 123#DEADBEEF
+candump can0
+```
+
+#### ModBus 配置
+
+ModBus 配置取决于使用的接口类型（串口或网络）：
+
+- **串口 ModBus**: 确保串口设备权限正确，通常需要将用户添加到 `dialout` 组
+- **网络 ModBus**: 确保网络连接正常，ModBus TCP/IP 端口已开放
+
+#### EtherCAT 配置
+
+EtherCAT 需要配置 EtherCAT 主站：
+
+- 确保 EtherCAT 主站软件已安装和配置
+- 检查 EtherCAT 网络拓扑
+- 验证 EtherCAT 从站设备已正确连接
+
+---
+
+### Q8: 如何控制手指运动？
+
+**A**: 使用 `fingerMove()` 函数：
+
+```cpp
+// 1. 设置速度和扭矩
+std::vector<uint8_t> speed = {200, 200, 200, 200, 200};
+std::vector<uint8_t> torque = {255, 255, 255, 255, 255};
+hand.setSpeed(speed);
+hand.setTorque(torque);
+
+// 2. 设置关节位置（L10 示例）
+std::vector<uint8_t> pose = {128, 128, 128, 128, 128, 128, 128, 128, 128, 128};
+hand.fingerMove(pose);
+
+// 3. 等待动作完成
+std::this_thread::sleep_for(std::chrono::seconds(1));
+```
+
+---
+
+### Q9: 如何读取传感器数据？
+
+**A**: 使用相应的获取函数：
+
+```cpp
+// 获取压力数据
+auto force = hand.getForce();
+
+// 获取温度
+auto temperature = hand.getTemperature();
+
+// 获取故障码
+auto fault_code = hand.getFaultCode();
+
+// 获取电流
+auto current = hand.getCurrent();
+
+// 获取关节状态
+auto state = hand.getState();
+```
+
+---
+
+## API 相关问题
+
+### Q10: 不同型号的关节数量是多少？
+
+**A**: 
+- **L6/O6**: 6 个关节
+- **L7**: 7 个关节
+- **L10**: 10 个关节
+- **L20**: 20 个关节
+- **L21**: 25 个关节
+- **L25**: 25 个关节
+
+详细映射关系请参考 [README.md](../README.md#关节映射表) 或 [API 参考文档](API-Reference.md)。
+
+---
+
+### Q11: `fingerMove()` 和 `fingerMoveArc()` 有什么区别？
+
+**A**: 
+- **`fingerMove()`**: 使用 0-255 的数值范围，适用于快速控制
+- **`fingerMoveArc()`**: 使用弧度制，适用于精确角度控制
+
+```cpp
+// 使用 0-255 范围（L10）
+std::vector<uint8_t> pose = {128, 128, 128, 128, 128, 128, 128, 128, 128, 128};
+hand.fingerMove(pose);
+
+// 使用弧度制（L10）
+std::vector<double> pose_arc = {0.5, 0.3, 0.2, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
+hand.fingerMoveArc(pose_arc);
+```
+
+**注意**: `fingerMoveArc()` 仅支持 L10、L20、L21、L25 型号。
+
+---
+
+### Q12: 速度和扭矩的取值范围是多少？
+
+**A**: 
+- **范围**: 0-255
+- **速度**: 值越大，运动速度越快
+- **扭矩**: 值越大，允许的最大扭矩越大
+
+```cpp
+// 中等速度
+std::vector<uint8_t> speed = {200, 200, 200, 200, 200};
+
+// 最大扭矩
+std::vector<uint8_t> torque = {255, 255, 255, 255, 255};
+```
+
+---
+
+### Q13: `getForce()` 返回的数据结构是什么？
+
+**A**: `getForce()` 返回三维向量：
+
+```cpp
+std::vector<std::vector<std::vector<uint8_t>>> force = hand.getForce();
+
+// force[finger][sensor_type][data]
+// finger: 0-4 (拇指、食指、中指、无名指、小指)
+// sensor_type: 0-3 (法向压力、切向压力、切向方向、接近感应)
+// data: 传感器数据矩阵
+```
+
+示例：
+```cpp
+auto force = hand.getForce();
+for (size_t finger = 0; finger < force.size(); finger++) {
+    for (size_t sensor_type = 0; sensor_type < force[finger].size(); sensor_type++) {
+        // 处理数据...
+    }
+}
+```
+
+---
+
+### Q14: 哪些功能仅特定型号支持？
+
+**A**: 
+- **`setCurrent()`**: 仅 L20 支持
+- **`setEnable()` / `setDisable()`**: 仅 L25 支持
+- **`clearFaultCode()`**: 仅 L20 支持
+- **`fingerMoveArc()`**: 仅 L10、L20、L21、L25 支持
+
+详细支持矩阵请参考 [API 参考文档](API-Reference.md#版本兼容性)。
+
+---
+
+## 兼容性问题
+
+### Q15: SDK 版本和设备固件版本需要匹配吗？
+
+**A**: 建议使用匹配的版本。如果遇到兼容性问题：
+
+1. 检查 SDK 版本：
+   ```cpp
+   std::string version = hand.getVersion();
+   std::cout << "SDK Version: " << version << std::endl;
+   ```
+
+2. 查看 [更新日志](../CHANGELOG.md)（如果存在）了解版本变更
+
+3. 联系技术支持获取兼容性信息
+
+---
+
+### Q16: 可以在 Windows 上使用吗？
+
+**A**: 当前版本主要支持 Linux 系统。Windows 支持情况：
+
+- **当前状态**: 主要支持 Linux
+- **Windows**: 可能需要额外的配置和编译
+- **建议**: 使用 Linux 系统（Ubuntu 18.04+ 推荐）
+
+如有 Windows 支持需求，请联系技术支持。
+
+---
+
+### Q17: 支持哪些编译器？
+
+**A**: 
+- **GCC**: 7.0 或更高版本
+- **Clang**: 5.0 或更高版本
+
+建议使用较新的编译器版本以获得更好的兼容性。
+
+---
+
+## 性能相关问题
+
+### Q18: API 调用的响应时间是多少？
+
+**A**: 响应时间取决于多个因素：
+
+- **系统负载**: 系统负载高时响应会变慢
+- **网络延迟**: EtherCAT 网络延迟
+
+**建议**:
+- 在动作后添加适当的延时：`std::this_thread::sleep_for(std::chrono::milliseconds(100))`
+- 避免过于频繁的 API 调用
+- 使用多线程处理传感器数据
+
+---
+
+### Q19: 如何提高性能？
+
+**A**: 以下建议可以提高性能：
+
+1. **降低轮询频率**:
+   ```cpp
+   // 从 10ms 改为 100ms
+   std::this_thread::sleep_for(std::chrono::milliseconds(100));
+   ```
+
+2. **使用多线程**:
+   ```cpp
+   std::thread sensor_thread([&hand]() {
+       while (running) {
+           auto force = hand.getForce();
+           // 处理数据...
+       }
+   });
+   ```
+
+3. **批量处理操作**:
+   - 减少不必要的 API 调用
+   - 缓存不需要实时更新的数据
+
+4. **优化通信**:
+   - 优化通信参数
+
+---
+
+### Q20: CPU 占用过高怎么办？
+
+**A**: 可能的原因和解决方案：
+
+1. **轮询频率过高**:
+   ```cpp
+   // 增加延时
+   std::this_thread::sleep_for(std::chrono::milliseconds(100));
+   ```
+
+2. **阻塞操作**:
+   - 使用异步操作
+   - 避免在循环中进行阻塞调用
+
+3. **资源泄漏**:
+   - 检查资源是否正确释放
+   - 使用 RAII 原则管理资源
+
+---
+
+## 其他问题
+
+### Q21: 如何获取技术支持？
+
+**A**: 可以通过以下方式获取支持：
+
+1. **文档**:
+   - [API 参考文档](API-Reference.md)
+   - [故障排查指南](TROUBLESHOOTING.md)
+   - [README](../README.md)
+
+2. **在线资源**:
+   - **官方网站**: [https://linkerbot.cn](https://linkerbot.cn)
+   - **技术支持**: [https://linkerbot.cn/aboutUs](https://linkerbot.cn/aboutUs)
+   - **GitHub**: [https://github.com/linker-bot/linkerhand-cpp-sdk](https://github.com/linker-bot/linkerhand-cpp-sdk)
+
+3. **GitHub Issues**:
+   - 提交问题报告
+   - 查看已有问题和解决方案
+
+---
+
+### Q22: 如何贡献代码？
+
+**A**: 欢迎贡献！请参考以下步骤：
+
+1. Fork 本仓库
+2. 创建特性分支 (`git checkout -b feature/AmazingFeature`)
+3. 提交更改 (`git commit -m 'Add some AmazingFeature'`)
+4. 推送到分支 (`git push origin feature/AmazingFeature`)
+5. 开启 Pull Request
+
+详细说明请参考 [README.md](../README.md#贡献)。
+
+---
+
+### Q23: 如何报告 Bug？
+
+**A**: 在 GitHub Issues 中报告 Bug 时，请提供：
+
+1. **错误信息**: 完整的错误信息或日志
+2. **系统信息**: 
+   - 操作系统和版本
+   - 系统架构（x86_64/aarch64）
+   - SDK 版本
+3. **设备信息**: 
+   - 设备型号（L6/L7/L10/L20/L21/L25）
+   - 固件版本（如果知道）
+4. **复现步骤**: 详细的步骤说明
+5. **相关代码**: 能够复现问题的代码片段
+
+---
+
+### Q24: 有示例代码吗？
+
+**A**: 是的，项目提供了示例代码：
+
+- **位置**: `examples/` 目录
+- **示例**:
+  - `toolset_example.cpp` - 工具集示例
+  - `action_group_show_l10.cpp` - L10 动作组示例
+
+运行示例：
+```bash
+cd build
+./toolset_example
+./action_group_show_l10
+```
+
+详细说明请参考 [示例代码文档](../examples/README.md)。
+
+---
+
+### Q25: 如何更新 SDK？
+
+**A**: 更新步骤：
+
+1. **拉取最新代码**:
+   ```bash
+   git pull origin main
+   ```
+
+2. **重新编译和安装**:
+   ```bash
+   ./script.sh
+   # 选择选项 [2]: Install SDK
+   ```
+
+3. **或手动更新**:
+   ```bash
+   cd build
+   cmake ..
+   make
+   sudo make install
+   ```
+
+如有其他问题，请参考 [故障排查指南](TROUBLESHOOTING.md) 或联系技术支持。

docs/L6-API-Development-Guide.md

+# L6 灵巧手 API 开发指南
+
+## 1. 指南目标
+
+本文聚焦 `L6/O6` 型号在当前 SDK 中的 API 使用与二次开发方法，回答三个问题：
+
+1. 应该使用哪一层接口
+2. 哪些能力属于通用 API，哪些属于 L6 专有 API
+3. 做二次封装时应如何避免常见误用
+
+## 2. API 分层结构
+
+L6 在当前仓库中的调用链如下：
+
+```text
+应用代码
+  -> LinkerHandApi
+      -> HandFactory
+          -> IHand
+              -> L6Hand
+```
+
+各层职责：
+
+| 层级 | 主要文件 | 作用 |
+|---|---|---|
+| 业务入口层 | `include/LinkerHandApi.h` | 对外提供统一接口 |
+| 实例工厂层 | `include/HandFactory.h` | 根据型号和通信方式实例化具体手型 |
+| 抽象接口层 | `include/IHand.h` | 定义跨型号公共能力与异常行为 |
+| 型号实现层 | `include/LinkerHandL6.h` | 暴露 L6/O6 专有接口 |
+
+## 3. 推荐使用策略
+
+### 3.1 优先使用 `LinkerHandApi`
+
+适用场景：
+
+- 快速接入 L6
+- 做上层业务逻辑
+- 多型号共用一套代码
+- 仅使用基础动作与基础状态读取
+
+典型接口：
+
+- `fingerMove`
+- `setSpeed`
+- `setTorque`
+- `getState`
+- `getSpeed`
+- `getTorque`
+- `getTemperature`
+- `getFaultCode`
+- `getForce`
+- `getVersion`
+
+### 3.2 需要 L6 专有能力时直接使用 `L6Hand`
+
+适用场景：
+
+- 需要加速度控制
+- 需要重调零
+- 需要读取序列号/硬件版本/机械版本
+- 需要恢复出厂设置或保存参数
+
+## 4. L6 能力矩阵
+
+### 4.1 通过 `LinkerHandApi` 可直接调用的 L6 能力
+
+| 方法 | 说明 | L6 使用建议 |
+|---|---|---|
+| `fingerMove(const std::vector<uint8_t>&)` | 位置控制 | 数组长度固定为 `6` |
+| `setSpeed(const std::vector<uint8_t>&)` | 速度设置 | 建议长度 `6` |
+| `setTorque(const std::vector<uint8_t>&)` | 扭矩设置 | 建议长度 `6` |
+| `getState()` | 当前位置 | 返回当前 6 关节状态 |
+| `getSpeed()` | 当前速度 | 用于回读配置 |
+| `getTorque()` | 当前扭矩 | 用于回读配置 |
+| `getTemperature()` | 温度信息 | 适合做热保护监控 |
+| `getFaultCode()` | 故障码 | 每轮任务前后都应检查 |
+| `clearFaultCode()` | 清故障 | 对跨型号代码建议包装异常处理 |
+| `getForce()` | 触觉/压力矩阵 | 返回三维向量 |
+| `getVersion()` | 版本信息 | 用于联机确认 |
+
+### 4.2 仅在 `L6Hand` 中暴露的能力
+
+| 方法 | 说明 |
+|---|---|
+| `setAcceleration(const std::vector<uint8_t>&)` | 设置 6 关节加速度 |
+| `getAcceleration()` | 读取加速度 |
+| `reHome()` | 重新调零 |
+| `getSerialNumber()` | 获取设备序列号 |
+| `getHardwareVersion()` | 获取硬件版本 |
+| `getMechanicalVersion()` | 获取机械结构版本 |
+| `factoryReset()` | 恢复出厂设置 |
+| `saveParameters()` | 保存参数 |
+
+如果你的项目需要这些能力，不建议只停留在 `LinkerHandApi` 层。
+
+## 5. 构造方式与通信选择
+
+### 5.1 推荐构造方式
+
+```cpp
+LinkerHandApi hand(LINKER_HAND::L6, HAND_TYPE::RIGHT, COMM_CAN_0);
+```
+
+或者显式指定通道：
+
+```cpp
+LinkerHandApi hand(LINKER_HAND::L6, HAND_TYPE::RIGHT, "can0", 1000000);
+```
+
+### 5.2 工厂逻辑中的通信差异
+
+从 `include/HandFactory.h` 当前实现可见：
+
+- 枚举构造器 `LinkerHandApi(..., COMM_TYPE)` 会把
+  - `COMM_CAN_0` 映射为 `can0`
+  - `COMM_CAN_1` 映射为 `can1`
+  - `COMM_ETHERCAT` 映射为 `ethercat`
+- 对 L6 来说，上述三者都会走到 `L6Hand` 创建逻辑
+
+但字符串构造器 `LinkerHandApi(..., std::string canChannel, int baudrate)` 的工厂判断是：
+
+- `canChannel` 包含 `"can"` 时才走 L6/L7/L10/L20/L25 的 CAN 分支
+- `canChannel == "modbus"` 只支持 `L10`
+
+这意味着：
+
+- 对 L6，`"can0"`、`"can1"` 是明确可用路径
+- 如果你想走 `COMM_ETHERCAT`，优先使用枚举构造器，不要假设字符串 `"ethercat"` 在当前重载中一定可用
+
+这是当前头文件逻辑直接能确认的限制，二次开发时应显式规避。
+
+## 6. 基础 API 示例
+
+### 6.1 使用 `LinkerHandApi`
+
+```cpp
+#include "LinkerHandApi.h"
+#include <chrono>
+#include <thread>
+
+int main() {
+    LinkerHandApi hand(LINKER_HAND::L6, HAND_TYPE::LEFT, COMM_CAN_0);
+
+    std::vector<uint8_t> speed(6, 180);
+    std::vector<uint8_t> torque(6, 220);
+    std::vector<uint8_t> open_pose = {255, 255, 255, 255, 255, 255};
+    std::vector<uint8_t> close_pose = {120, 160, 0, 0, 0, 0};
+
+    hand.setSpeed(speed);
+    hand.setTorque(torque);
+
+    hand.fingerMove(open_pose);
+    std::this_thread::sleep_for(std::chrono::milliseconds(600));
+
+    hand.fingerMove(close_pose);
+    std::this_thread::sleep_for(std::chrono::milliseconds(600));
+
+    auto state = hand.getState();
+    auto force = hand.getForce();
+    auto fault = hand.getFaultCode();
+}
+```
+
+### 6.2 使用 `L6Hand`
+
+```cpp
+#include "LinkerHandL6.h"
+#include <iostream>
+
+int main() {
+    linkerhand::hand::L6Hand hand(static_cast<uint32_t>(HAND_TYPE::RIGHT), "can0", 1000000);
+
+    hand.setSpeed(std::vector<uint8_t>(6, 150));
+    hand.setTorque(std::vector<uint8_t>(6, 180));
+    hand.setAcceleration(std::vector<uint8_t>(6, 90));
+
+    std::cout << hand.getVersion() << std::endl;
+    std::cout << hand.getSerialNumber() << std::endl;
+
+    return 0;
+}
+```
+
+## 7. `getForce()` 数据使用建议
+
+`LinkerHandApi::getForce()` 返回：
+
+```cpp
+std::vector<std::vector<std::vector<uint8_t>>>
+```
+
+现有文档与示例中，通常把第一维按五指处理：
+
+- `0`：拇指
+- `1`：食指
+- `2`：中指
+- `3`：无名指
+- `4`：小指
+
+建议做法：
+
+- 先打印原始结构，确认维度
+- 再做语义命名和阈值封装
+- 将触觉解析与动作控制拆开，避免强耦合
+
+## 8. 异常与兼容性策略
+
+### 8.1 未实现能力会抛异常
+
+`IHand` 中大量默认方法会抛出 `UnsupportedFeatureException`，因此跨型号开发时建议统一做保护：
+
+```cpp
+try {
+    auto value = hand.getCurrent();
+} catch (const linkerhand::UnsupportedFeatureException& e) {
+    std::cerr << e.what() << std::endl;
+}
+```
+
+### 8.2 参数错误要在业务层先拦截
+
+建议所有二次封装先检查：
+
+- 位置数组长度是否为 `6`
+- 速度/扭矩/加速度长度是否为 `6`
+- 数值是否在 `0-255`
+
+例如：
+
+```cpp
+void ensureL6Vector(const std::vector<uint8_t>& data) {
+    if (data.size() != 6) {
+        throw std::invalid_argument("L6 expects exactly 6 joint values");
+    }
+}
+```
+
+## 9. 二次封装建议
+
+### 9.1 业务层包装器
+
+建议封装一个 `L6Controller`，只暴露业务语义接口，例如：
+
+- `openHand()`
+- `prepareGrip()`
+- `pinch()`
+- `release()`
+- `readStatus()`
+
+不要让上层任务代码直接散落大量 `std::vector<uint8_t>` 常量。
+
+### 9.2 型号能力分层
+
+如果项目同时支持 `L6/L7/L10/L20`，建议分成：
+
+- 公共接口层：只调用 `LinkerHandApi`
+- 型号扩展层：只在确有必要时下钻到 `L6Hand`
+
+这样既能复用业务逻辑，也能保留 L6 的特性能力。
+
+### 9.3 基于当前仓库的事实约束
+
+当前仓库中很多实现位于预编译动态库中，因此在做深度扩展时要区分两类问题：
+
+- 头文件已经声明，但库内部行为未公开
+- 头文件本身就没有声明
+
+前者可以通过小样例验证；后者则需要新增头文件接口与实现。
+
+## 10. 推荐阅读顺序
+
+1. `include/LinkerHandApi.h`
+2. `include/HandFactory.h`
+3. `include/IHand.h`
+4. `include/LinkerHandL6.h`
+5. `src/main.cpp`
+6. `examples/toolset_example.cpp`
+7. `docs/API-Reference.md`
+8. `docs/TROUBLESHOOTING.md`

docs/L6-Application-Development-Manual.md

+# L6 灵巧手应用开发手册
+
+## 1. 适用范围
+
+本文面向使用 `LinkerHand-CPP-SDK` 开发 `L6/O6` 灵巧手上位机应用的工程师，重点覆盖：
+
+- 开发环境准备
+- L6 关节与数据模型
+- 典型控制流程
+- 触觉、状态、故障数据读取
+- 应用层开发建议
+
+本文内容基于当前仓库中的公开头文件、示例程序和构建脚本整理，适合作为二次开发入口文档。
+
+## 2. 项目内的 L6 开发入口
+
+L6 的开发主要有两条路径：
+
+| 路径 | 入口 | 适用场景 |
+|---|---|---|
+| 通用业务接口 | `LinkerHandApi` | 快速接入、动作控制、通用状态查询 |
+| L6 型号专用接口 | `linkerhand::hand::L6Hand` | 需要重调零、加速度、设备信息等 L6 专有能力 |
+
+关联文件：
+
+- `include/LinkerHandApi.h`：统一 API 入口
+- `include/HandFactory.h`：型号与通信工厂
+- `include/IHand.h`：抽象接口与异常约束
+- `include/LinkerHandL6.h`：L6/O6 专有能力定义
+- `examples/toolset_example.cpp`：交互式示例
+- `src/main.cpp`：最小示例
+
+## 3. 开发环境准备
+
+### 3.1 软件环境
+
+- Linux
+- `x86_64` 或 `aarch64`
+- CMake `3.15+`
+- GCC `7+` 或 Clang `5+`
+- `pthread`
+
+### 3.2 构建 SDK
+
+```bash
+mkdir build
+cd build
+cmake ..
+make
+```
+
+也可以使用仓库脚本：
+
+```bash
+./script.sh
+```
+
+### 3.3 CAN 通信准备
+
+L6 当前仓库中的常规接入方式以 CAN 为主。典型配置：
+
+```bash
+sudo modprobe can
+sudo modprobe can_raw
+sudo ip link set can0 type can bitrate 1000000
+sudo ip link set can0 up
+ip link show can0
+```
+
+如果设备接在 `can1`，对应替换接口名即可。
+
+## 4. L6 运动与数据模型
+
+### 4.1 关节顺序
+
+`L6` 的位置控制数组长度固定为 `6`，关节顺序如下：
+
+| 索引 | 含义 |
+|---|---|
+| `0` | 大拇指弯曲 |
+| `1` | 大拇指横摆 |
+| `2` | 食指弯曲 |
+| `3` | 中指弯曲 |
+| `4` | 无名指弯曲 |
+| `5` | 小拇指弯曲 |
+
+### 4.2 数值语义
+
+- 位置范围：`0-255`
+- 当前文档按仓库现有 API 说明采用如下语义：
+  - `0`：更接近完全弯曲
+  - `255`：更接近完全伸直
+
+实际机械极限、零位、方向仍应以设备标定结果和设备手册为准。
+
+### 4.3 L6 专有协议能力
+
+从 `include/LinkerHandL6.h` 可见，L6 除基础控制外还定义了以下能力：
+
+- 位置控制
+- 速度设置
+- 扭矩设置
+- 加速度设置
+- 重调零 `reHome()`
+- 温度读取
+- 故障码读取与清除
+- 触觉矩阵读取
+- 软件/硬件/机械版本读取
+- 序列号读取
+- 恢复出厂设置与参数保存
+
+注意：这些能力并不都透出到 `LinkerHandApi`，部分需要直接使用 `L6Hand`。
+
+## 5. 最小应用开发流程
+
+### 5.1 使用统一 API 快速接入
+
+```cpp
+#include "LinkerHandApi.h"
+#include <chrono>
+#include <iostream>
+#include <thread>
+
+int main() {
+    LinkerHandApi hand(LINKER_HAND::L6, HAND_TYPE::RIGHT, "can0", 1000000);
+
+    std::vector<uint8_t> open_pose = {255, 255, 255, 255, 255, 255};
+    std::vector<uint8_t> pinch_pose = {160, 180, 20, 255, 255, 255};
+
+    hand.setSpeed(std::vector<uint8_t>(6, 180));
+    hand.setTorque(std::vector<uint8_t>(6, 200));
+
+    hand.fingerMove(open_pose);
+    std::this_thread::sleep_for(std::chrono::milliseconds(800));
+
+    hand.fingerMove(pinch_pose);
+    std::this_thread::sleep_for(std::chrono::milliseconds(800));
+
+    auto state = hand.getState();
+    auto fault = hand.getFaultCode();
+
+    std::cout << "joint count: " << state.size() << std::endl;
+    std::cout << "fault count: " << fault.size() << std::endl;
+    return 0;
+}
+```
+
+推荐顺序：
+
+1. 初始化对象
+2. 设置速度和扭矩
+3. 下发目标位姿
+4. 等待动作完成
+5. 读取状态/故障/温度/触觉数据
+
+### 5.2 使用 L6 专有类获取更完整能力
+
+```cpp
+#include "LinkerHandL6.h"
+#include <iostream>
+
+int main() {
+    linkerhand::hand::L6Hand hand(static_cast<uint32_t>(HAND_TYPE::RIGHT), "can0", 1000000);
+
+    hand.setSpeed(std::vector<uint8_t>(6, 150));
+    hand.setTorque(std::vector<uint8_t>(6, 180));
+    hand.setAcceleration(std::vector<uint8_t>(6, 100));
+
+    std::cout << "version: " << hand.getVersion() << std::endl;
+    std::cout << "serial: " << hand.getSerialNumber() << std::endl;
+
+    return 0;
+}
+```
+
+当应用需要以下能力时，优先使用 `L6Hand`：
+
+- `setAcceleration`
+- `getAcceleration`
+- `reHome`
+- `getSerialNumber`
+- `getHardwareVersion`
+- `getMechanicalVersion`
+- `factoryReset`
+- `saveParameters`
+
+## 6. 典型应用模式
+
+### 6.1 预设动作控制
+
+适合演示、产线联调、抓取动作库调用。可直接参考 `examples/toolset_example.cpp` 中的 `L6_POSE_1`。
+
+建议做法：
+
+- 将常用动作封装为固定长度的 `std::vector<uint8_t>(6)`
+- 每个动作之间保留 `100-1000ms` 过渡时间
+- 动作切换前检查故障码
+
+### 6.2 状态轮询
+
+适合闭环可视化、日志记录、简易监控。
+
+推荐读取项：
+
+- `getState()`
+- `getTemperature()`
+- `getFaultCode()`
+- `getForce()`
+
+轮询周期建议从 `50-200ms` 起步，根据总线和上位机实时性要求调整。
+
+### 6.3 触觉驱动应用
+
+L6 头文件中定义了拇指、食指、中指、无名指、小指以及掌部触觉相关帧。当前示例程序对 `getForce()` 的使用方式是按五指矩阵读取并打印。
+
+适合场景：
+
+- 抓取接触检测
+- 滑移趋势判断
+- 触碰事件触发
+- 人机交互实验
+
+开发建议：
+
+- 先记录空载基线
+- 用阈值做一层滤波与触发
+- 不要直接把原始矩阵值作为动作切换唯一条件
+
+### 6.4 故障恢复
+
+推荐在每轮任务前后调用：
+
+- `getFaultCode()`
+- 必要时 `clearFaultCode()`
+
+如果应用直接使用 `L6Hand`，可进一步封装：
+
+- 故障码非零立即停止新动作下发
+- 清故障后重新回到张开位
+- 重复故障时提示人工检查通信、供电和机构
+
+## 7. 接口使用约束
+
+### 7.1 向量长度必须严格匹配
+
+L6 常用数组长度均应按 `6` 个关节处理，包括：
+
+- `fingerMove`
+- `setSpeed`
+- `setTorque`
+- `setAcceleration`
+
+不要把 L10/L20 的示例长度直接复用到 L6。
+
+### 7.2 并非所有型号都支持所有接口
+
+`IHand` 中大量方法默认会抛出 `UnsupportedFeatureException`。这意味着：
+
+- 某个接口在 `LinkerHandApi` 中存在
+- 不等于当前型号一定实现了该接口
+
+对跨型号应用，建议统一加异常处理。
+
+### 7.3 动作控制要保留缓冲时间
+
+SDK 接口是命令式下发，不会自动等待动作完成。应用层需要自己控制：
+
+- 动作间隔
+- 超时
+- 重试
+- 状态回读
+
+### 7.4 当前仓库中实现以预编译库为主
+
+当前仓库公开了头文件与二进制库，很多实现细节位于 `lib/x86_64/` 和 `lib/aarch64/` 下的 `.so` 中。开发时应以：
+
+- 头文件签名
+- 示例代码
+- 现有文档
+
+作为第一依据。
+
+## 8. 推荐的应用层封装方式
+
+建议把应用分成三层：
+
+1. 设备适配层：封装 `LinkerHandApi` 或 `L6Hand`
+2. 动作层：定义张开、握持、捏取、释放等动作模板
+3. 任务层：把动作与视觉、力控、机械臂流程连接
+
+一个稳定的应用封装至少应包含：
+
+- 初始化与连接检测
+- 安全张开位
+- 动作超时控制
+- 故障查询与恢复
+- 数据日志
+
+## 9. 调试建议
+
+建议先跑仓库自带示例，再做业务接入：
+
+```bash
+./script.sh
+```
+
+或：
+
+```bash
+mkdir build
+cd build
+cmake ..
+make
+./toolset_example
+```
+
+优先验证：
+
+- CAN 接口是否正常
+- `getVersion()` 是否有返回
+- `fingerMove()` 是否能完成张开/闭合
+- `getState()` 和 `getFaultCode()` 是否能持续读取
+
+## 10. 相关文档
+
+- `docs/API-Reference.md`
+- `docs/TROUBLESHOOTING.md`
+- `docs/FAQ.md`
+- `examples/README.md`

docs/L6-Joint-Development-README.md

+# L6 灵巧手关节开发 README
+
+本文档面向 `linkerhand-cpp-sdk` 中 `L6` 灵巧手的关节功能开发、联调和二次封装。
+
+目标是帮助开发者快速回答下面几个问题：
+
+- `L6` 在 SDK 里怎么初始化
+- 6 个关节的控制数据应该怎么组织
+- 常用的关节开发接口有哪些
+- 调试关节动作时推荐什么流程
+- 如果要做更底层的 L6 能力开发，应该改哪里
+
+## 1. 模型概览
+
+`L6`/`O6` 是 6 关节型号，在当前 SDK 中由以下文件承载：
+
+- 统一 API 入口：`include/LinkerHandApi.h`
+- L6 专用实现：`include/LinkerHandL6.h`
+- 公共枚举定义：`include/Common.h`
+
+其中：
+
+- `LinkerHandApi` 适合业务开发和上层应用集成
+- `linkerhand::hand::L6Hand` 适合做 L6 专项能力开发、协议扩展和底层调试
+
+## 2. L6 关节数据约定
+
+从 `include/LinkerHandL6.h` 可知，L6 的核心关节控制帧按 `1-6` 号关节组织，长度固定为 `6`：
+
+- 关节位置：`JOINT_POSITION`
+- 力矩限制：`TORQUE_LIMIT`
+- 关节速度：`JOINT_SPEED`
+- 关节加速度：`JOINT_ACCELERATION`
+
+这意味着所有面向 L6 的关节数组都应默认按 6 维组织，例如：
+
+```cpp
+std::vector<uint8_t> pose   = {128, 128, 128, 128, 128, 128};
+std::vector<uint8_t> speed  = {120, 120, 120, 120, 120, 120};
+std::vector<uint8_t> torque = {180, 180, 180, 180, 180, 180};
+```
+
+推荐把这 6 个槽位统一命名为：
+
+```text
+joint1, joint2, joint3, joint4, joint5, joint6
+```
+
+注意：
+
+- 当前仓库头文件明确了 L6 是 6 关节控制，但没有在公开文档里给出每个关节与具体手指机构的一一对应关系
+- 在没有机械图纸、固件协议表或标定记录之前，建议先按 `joint1 ~ joint6` 做协议层开发
+- 实机联调时再建立 “关节编号 -> 手指/自由度名称” 的映射表，避免早期写死错误语义
+
+## 3. 推荐开发分层
+
+### 3.1 上层业务开发
+
+如果你的目标是：
+
+- 下发关节角度
+- 读取关节状态
+- 做抓握动作编排
+- 在现有 SDK 上快速做应用
+
+优先使用 `LinkerHandApi`。
+
+示例：
+
+```cpp
+#include "LinkerHandApi.h"
+#include <chrono>
+#include <iostream>
+#include <thread>
+#include <vector>
+
+int main() {
+    LinkerHandApi hand(LINKER_HAND::L6, HAND_TYPE::RIGHT);
+
+    std::vector<uint8_t> speed  = {100, 100, 100, 100, 100, 100};
+    std::vector<uint8_t> torque = {180, 180, 180, 180, 180, 180};
+    std::vector<uint8_t> open   = {255, 255, 255, 255, 255, 255};
+    std::vector<uint8_t> close  = {0, 0, 0, 0, 0, 0};
+
+    hand.setSpeed(speed);
+    hand.setTorque(torque);
+
+    hand.fingerMove(open);
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+
+    hand.fingerMove(close);
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+
+    auto state = hand.getState();
+    std::cout << "joint state size = " << state.size() << std::endl;
+
+    return 0;
+}
+```
+
+### 3.2 底层功能开发
+
+如果你的目标是：
+
+- 调整 L6 专用协议
+- 增加加速度、回零、参数保存等底层能力
+- 扩展设备信息、触觉、故障处理逻辑
+- 直接排查 L6 驱动收发问题
+
+优先查看并使用 `linkerhand::hand::L6Hand`。
+
+`include/LinkerHandL6.h` 中已经暴露出以下 L6 专用能力：
+
+- `setJointPositions`
+- `setJointPositionArc`
+- `setSpeed`
+- `setTorque`
+- `setAcceleration`
+- `reHome`
+- `getCurrentStatus`
+- `getCurrentStatusArc`
+- `getSpeed`
+- `getTorque`
+- `getAcceleration`
+- `getFaultCode`
+- `clearFaultCode`
+- `getForce`
+- `getTemperature`
+- `getVersion`
+- `getSerialNumber`
+- `getHardwareVersion`
+- `getMechanicalVersion`
+- `factoryReset`
+- `saveParameters`
+
+这部分适合做 L6 关节驱动能力的主开发面。
+
+## 4. 关节开发建议流程
+
+建议按下面顺序推进，能明显降低实机风险。
+
+### 第一步：先确认基础连通
+
+确认以下信息一致：
+
+- 手型：`LINKER_HAND::L6`
+- 左右手：`HAND_TYPE::LEFT` 或 `HAND_TYPE::RIGHT`
+- 通信口：默认构造使用 `COMM_CAN_0`
+- 如果是指定 CAN 通道，使用带 `canChannel` 和 `baudrate` 的构造函数
+
+例如：
+
+```cpp
+LinkerHandApi hand(LINKER_HAND::L6, HAND_TYPE::RIGHT, "can0", 1000000);
+```
+
+建议首次联调先读信息，不先运动：
+
+```cpp
+auto version = hand.getVersion();
+auto temp = hand.getTemperature();
+auto fault = hand.getFaultCode();
+```
+
+### 第二步：单关节试动
+
+第一次动关节时，不要六轴同时大幅运动，建议：
+
+- 速度设置为低值
+- 力矩限制设置为中低值
+- 一次只改变一个关节
+- 每次动作后读取状态和故障码
+
+示例：
+
+```cpp
+std::vector<uint8_t> pose = {128, 128, 128, 128, 128, 128};
+std::vector<uint8_t> speed = {60, 60, 60, 60, 60, 60};
+std::vector<uint8_t> torque = {100, 100, 100, 100, 100, 100};
+
+hand.setSpeed(speed);
+hand.setTorque(torque);
+
+pose[0] = 150;
+hand.fingerMove(pose);
+```
+
+### 第三步：建立关节语义映射
+
+实机调试时，记录每个关节对应的实际运动效果，例如：
+
+```text
+joint1 -> 拇指弯曲
+joint2 -> 食指弯曲
+joint3 -> 中指弯曲
+joint4 -> 无名指弯曲
+joint5 -> 小指弯曲
+joint6 -> 某个联动或姿态自由度
+```
+
+上面只是示例格式，不代表当前仓库已经确认的最终定义。
+
+你应该在实机动作和结构设计图一致后，再把这张映射表固化到代码或文档中。
+
+### 第四步：封装动作层
+
+完成关节映射后，再继续封装：
+
+- 张开
+- 握拳
+- 两指捏合
+- 三指捏合
+- 循环抓握
+- 自定义姿态组
+
+推荐做法是先保留底层 `joint1 ~ joint6` 数组，再在上层增加动作语义层，避免后面硬件版本调整时要大面积改代码。
+
+## 5. 关节控制接口说明
+
+### 5.1 位置控制
+
+位置控制是最基础的开发入口：
+
+```cpp
+std::vector<uint8_t> pose = {128, 128, 128, 128, 128, 128};
+hand.fingerMove(pose);
+```
+
+说明：
+
+- 数组长度必须与 L6 关节数一致
+- 每个元素通常是 `0~255` 的范围值
+- 实际机械含义需要结合 L6 机构定义和标定结果确认
+
+### 5.2 弧度控制
+
+如果你希望从更接近运动学的方式开发，可使用弧度接口：
+
+```cpp
+std::vector<double> pose_arc = {0.0, 0.2, 0.2, 0.2, 0.2, 0.1};
+hand.fingerMoveArc(pose_arc);
+```
+
+适用场景：
+
+- 上层算法输出弧度值
+- 需要统一不同型号的角度控制接口
+- 后续要接逆运动学或手势规划模块
+
+### 5.3 速度控制
+
+```cpp
+std::vector<uint8_t> speed = {80, 80, 80, 80, 80, 80};
+hand.setSpeed(speed);
+```
+
+建议：
+
+- 联调初期使用低速
+- 只有在动作方向和关节映射确认后，再逐步提速
+
+### 5.4 力矩控制
+
+```cpp
+std::vector<uint8_t> torque = {120, 120, 120, 120, 120, 120};
+hand.setTorque(torque);
+```
+
+建议：
+
+- 初期避免满力矩
+- 抓取脆弱目标时，应单独下调相关关节力矩
+
+### 5.5 状态读取
+
+```cpp
+auto state = hand.getState();
+auto speed_now = hand.getSpeed();
+auto torque_now = hand.getTorque();
+auto temperature = hand.getTemperature();
+auto fault = hand.getFaultCode();
+```
+
+推荐在每个动作阶段都保留状态回读，便于排查：
+
+- 命令已发送但未执行
+- 关节卡死
+- 力矩不足
+- 温度异常
+- 驱动报错
+
+## 6. L6 底层开发关注点
+
+如果你准备继续开发 `L6Hand` 实现，建议重点关注下面几类内容。
+
+### 6.1 协议帧定义
+
+L6 的协议属性在 `include/LinkerHandL6.h` 的 `L6FrameProperty` 中定义。
+
+这里是新增关节能力、读写设备参数、扩展触觉读取时最关键的入口之一。
+
+### 6.2 接收线程
+
+`L6Hand` 内部包含：
+
+- `receiveThread`
+- `receiveResponse()`
+- 多类缓存数据，如 `joint_position`、`joint_speeds`、`error_codes`
+
+如果后续要增强稳定性，优先检查：
+
+- 收包线程退出条件
+- 多线程读写锁粒度
+- 状态缓存是否会被旧帧覆盖
+- 异常 CAN 帧的过滤和日志
+
+### 6.3 设备参数与持久化
+
+L6 还包含以下维护类能力：
+
+- `reHome()`
+- `factoryReset()`
+- `saveParameters()`
+
+这类操作有潜在风险，建议只在以下情况下使用：
+
+- 已完成关节方向和零点确认
+- 已有明确的标定流程
+- 能保证操作后立即复核状态
+
+## 7. 实机调试建议
+
+### 建议做的事
+
+- 先单关节，再多关节
+- 先低速低力矩，再逐步放开
+- 每次动作后都读取 `fault code`
+- 为每个 joint 建立独立测试用例
+- 记录左右手差异
+- 将“协议编号”和“机械语义”分开管理
+
+### 不建议直接做的事
+
+- 首次上电就六关节满量程动作
+- 未确认零点就做连续动作组
+- 没有限速限力矩就抓取硬物
+- 没有故障读取就长时间循环运行
+
+## 8. 推荐的 L6 开发目录约定
+
+如果你接下来要继续扩展仓库，推荐按下面方式组织：
+
+```text
+docs/
+  L6-Joint-Development-README.md
+
+examples/
+  l6_joint_basic.cpp
+  l6_joint_debug.cpp
+  l6_action_group.cpp
+
+tests/
+  unit/
+    test_L6JointMapping.cpp
+    test_L6CommandPacking.cpp
+```
+
+这样可以把：
+
+- 文档
+- 示例
+- 测试
+
+三部分都围绕 L6 独立起来，后续维护会轻松很多。
+
+## 9. 开发起步模板
+
+下面这段代码适合作为 L6 关节开发的最小起步模板：
+
+```cpp
+#include "LinkerHandApi.h"
+#include <chrono>
+#include <iostream>
+#include <thread>
+#include <vector>
+
+int main() {
+    LinkerHandApi hand(LINKER_HAND::L6, HAND_TYPE::RIGHT);
+
+    std::vector<uint8_t> speed = {60, 60, 60, 60, 60, 60};
+    std::vector<uint8_t> torque = {100, 100, 100, 100, 100, 100};
+    std::vector<uint8_t> pose = {128, 128, 128, 128, 128, 128};
+
+    hand.setSpeed(speed);
+    hand.setTorque(torque);
+
+    for (size_t joint = 0; joint < pose.size(); ++joint) {
+        auto test_pose = pose;
+        test_pose[joint] = 160;
+        hand.fingerMove(test_pose);
+        std::this_thread::sleep_for(std::chrono::milliseconds(800));
+
+        auto state = hand.getState();
+        auto fault = hand.getFaultCode();
+
+        std::cout << "joint " << joint + 1
+                  << " test, state size = " << state.size()
+                  << ", fault size = " << fault.size() << std::endl;
+
+        hand.fingerMove(pose);
+        std::this_thread::sleep_for(std::chrono::milliseconds(800));
+    }
+
+    return 0;
+}
+```
+
+## 10. 当前文档结论
+
+基于当前仓库代码，可以确认以下事实：
+
+- `L6` 是 SDK 已支持型号
+- `L6` 的关节控制长度为 6
+- 统一开发入口是 `LinkerHandApi`
+- L6 专用深度开发入口是 `linkerhand::hand::L6Hand`
+- 目前仓库里缺少一份专门面向 L6 的清晰开发文档
+- 目前公开代码没有直接给出 L6 六个关节的机械语义映射，需要通过实机标定补齐
+
+如果后续你要继续推进，我建议下一步直接补两样内容：
+
+1. `examples/l6_joint_basic.cpp`
+2. `tests/unit/test_L6CommandPacking.cpp`
+
+这样文档、示例和测试就能形成完整闭环。

docs/NAMING_IMPROVEMENTS.md

+# LinkerHand C++ SDK 命名规范改进指南
+
+## 概述
+
+本文档描述了 LinkerHand C++ SDK 的命名规范改进，这些改进旨在提高代码一致性、可维护性和可读性。
+
+## 改进内容
+
+### 1. 统一命名空间结构
+
+所有手型号实现类已迁移到统一的 `linkerhand::hand` 命名空间：
+
+**改进前：**
+```cpp
+namespace LinkerHandL10 {
+    class LinkerHand : public linkerhand::hand::IHand { ... };
+}
+```
+
+**改进后：**
+```cpp
+namespace linkerhand {
+namespace hand {
+    class L10Hand : public IHand { ... };
+} // namespace hand
+} // namespace linkerhand
+```
+
+### 2. 类名改进
+
+不同型号的手现在使用不同的类名，便于区分：
+
+| 型号 | 旧类名 | 新类名 | 命名空间 |
+|------|--------|--------|---------|
+| L6/O6 | `LinkerHandL6::LinkerHand` | `linkerhand::hand::L6Hand` | `linkerhand::hand` |
+| L7 | `LinkerHandL7::LinkerHand` | `linkerhand::hand::L7Hand` | `linkerhand::hand` |
+| L10 | `LinkerHandL10::LinkerHand` | `linkerhand::hand::L10Hand` | `linkerhand::hand` |
+| L20 | `LinkerHandL20::LinkerHand` | `linkerhand::hand::L20Hand` | `linkerhand::hand` |
+| L25/L21 | `LinkerHandL25::LinkerHand` | `linkerhand::hand::L25Hand` | `linkerhand::hand` |
+| Modbus L10 | `ModbusLinkerHandL10::LinkerHand` | `linkerhand::hand::ModbusL10Hand` | `linkerhand::hand` |
+
+### 3. 帧属性枚举重命名和改进
+
+各型号的帧属性枚举已重命名，使用更清晰的命名，并改为使用 `enum class` 以避免命名冲突：
+
+| 型号 | 旧枚举名 | 新枚举名 |
+|------|---------|---------|
+| L6/O6 | `LinkerHandL6::FRAME_PROPERTY` | `linkerhand::hand::L6FrameProperty` |
+| L7 | `LinkerHandL7::FRAME_PROPERTY` | `linkerhand::hand::L7FrameProperty` |
+| L10 | `LinkerHandL10::FRAME_PROPERTY` | `linkerhand::hand::L10FrameProperty` |
+| L20 | `LinkerHandL20::FRAME_PROPERTY` | `linkerhand::hand::L20FrameProperty` |
+| L25/L21 | `LinkerHandL25::FRAME_PROPERTY` | `linkerhand::hand::L25FrameProperty` |
+
+**重要改进**：
+- 枚举类型从 `typedef enum` 改为 `enum class`（C++11 强类型枚举）
+- 解决了多个枚举类型之间的命名冲突问题
+- 枚举值现在需要使用作用域限定符访问（如 `L6FrameProperty::JOINT_POSITION`）
+
+**使用示例**：
+```cpp
+// 旧方式（已废弃，但仍可通过向后兼容别名使用）
+LinkerHandL6::FRAME_PROPERTY prop = LinkerHandL6::FRAME_PROPERTY::JOINT_POSITION;
+
+// 新方式（推荐）
+linkerhand::hand::L6FrameProperty prop = linkerhand::hand::L6FrameProperty::JOINT_POSITION;
+
+// 转换为整数（用于 CAN 帧）
+uint8_t frameProperty = static_cast<uint8_t>(linkerhand::hand::L6FrameProperty::JOINT_POSITION);
+```
+
+### 4. 参数命名修正
+
+修正了错误的参数命名：
+
+**改进前（错误）**：
+```cpp
+LinkerHandApi(const LINKER_HAND &handJoint, ...);
+LINKER_HAND handJoint_;  // 这是手型号，不是关节
+```
+
+**改进后（正确）**：
+```cpp
+LinkerHandApi(const LINKER_HAND &handModel, ...);
+LINKER_HAND handModel_;  // 手型号（L6, L7, L10, L20, L21, L25 等）
+```
+
+**说明**：
+- `handJoint` 命名不准确，因为这是手型号（Model），不是关节（Joint）
+- 已统一修正为 `handModel`，更准确地表示手型号
+
+## 向后兼容性
+
+为了保持向后兼容，所有旧的命名空间和类名都通过 `using` 别名保留：
+
+```cpp
+// 向后兼容：在旧命名空间中提供别名
+namespace LinkerHandL10 {
+    using FRAME_PROPERTY = linkerhand::hand::L10FrameProperty;
+    using LinkerHand = linkerhand::hand::L10Hand;
+} // namespace LinkerHandL10
+```
+
+这意味着现有代码可以继续使用旧的命名，无需立即修改。
+
+## 使用示例
+
+### 使用新命名（推荐）
+
+```cpp
+#include "LinkerHandL10.h"
+#include "HandFactory.h"
+
+// 使用新的命名空间和类名
+using namespace linkerhand;
+
+auto hand = factory::HandFactory::createHand(
+    LINKER_HAND::L10,
+    HAND_TYPE::RIGHT,
+    COMM_CAN_0
+);
+// hand 的类型是 std::unique_ptr<hand::IHand>
+// 实际类型是 hand::L10Hand
+```
+
+### 使用旧命名（向后兼容）
+
+```cpp
+#include "LinkerHandL10.h"
+#include "HandFactory.h"
+
+// 仍然可以使用旧的命名空间
+LinkerHandL10::LinkerHand hand(0x27, "can0", 1000000);
+```
+
+## 迁移建议
+
+### 阶段一：保持兼容（当前）
+
+- ✅ 所有新命名已实现
+- ✅ 向后兼容别名已添加
+- ✅ 现有代码无需修改即可继续工作
+
+### 阶段二：逐步迁移（推荐）
+
+1. **新代码使用新命名**：所有新编写的代码应使用新的命名空间和类名
+2. **更新文档和示例**：逐步更新文档和示例代码使用新命名
+3. **代码审查**：在代码审查中鼓励使用新命名
+
+### 阶段三：完全迁移（未来）
+
+在未来版本中，可以考虑：
+- 移除向后兼容别名（需要主版本号升级）
+- 更新所有内部代码使用新命名
+- 更新所有文档和示例
+
+## 优势
+
+1. **一致性**：所有型号使用统一的命名空间结构
+2. **可读性**：类名直接反映型号（`L10Hand` vs `LinkerHand`）
+3. **可维护性**：统一的命名空间便于管理和查找
+4. **扩展性**：新型号可以轻松添加到同一命名空间
+
+## 注意事项
+
+1. **工厂类**：`HandFactory` 已更新为使用新类名，但返回类型仍然是 `IHand` 接口
+2. **头文件**：头文件名暂时保持不变，未来可以考虑重命名
+3. **枚举**：
+   - 帧属性枚举已重命名，枚举值保持不变
+   - 枚举类型已改为 `enum class`，需要使用作用域限定符访问枚举值
+   - 这解决了多个枚举类型之间的命名冲突问题（如 `JOINT_POSITION`、`TORQUE_LIMIT` 等）
+   - 如果需要将枚举值转换为整数，使用 `static_cast<uint8_t>()`
+
+## 相关文件
+
+- `include/LinkerHandL6.h` - L6/O6 型号实现
+- `include/LinkerHandL7.h` - L7 型号实现
+- `include/LinkerHandL10.h` - L10 型号实现
+- `include/LinkerHandL20.h` - L20 型号实现
+- `include/LinkerHandL25.h` - L25/L21 型号实现
+- `include/ModbusLinkerHandL10.h` - Modbus L10 型号实现
+- `include/HandFactory.h` - 工厂类
+
+## 版本信息
+
+- **改进版本**：1.1.7+
+- **兼容性**：完全向后兼容
+

docs/TROUBLESHOOTING.md

+# 故障排查指南
+
+本文档提供 LinkerHand-CPP-SDK 常见问题的排查和解决方案。
+
+## 目录
+
+- [编译问题](#编译问题)
+- [运行时问题](#运行时问题)
+- [通信问题](#通信问题)
+- [API 使用问题](#api-使用问题)
+- [性能问题](#性能问题)
+- [获取帮助](#获取帮助)
+
+---
+
+## 编译问题
+
+### 问题：找不到库文件
+
+**错误信息**:
+```
+linkerhand_cpp_sdk library not found!
+```
+
+**可能原因**:
+1. 库文件未正确安装
+2. 架构不匹配（x86_64 vs aarch64）
+3. CMake 查找路径不正确
+
+**解决方案**:
+1. 检查库文件是否存在：
+   ```bash
+   ls -la lib/x86_64/  # 或 lib/aarch64/
+   ```
+
+2. 确认系统架构：
+   ```bash
+   uname -m
+   ```
+
+3. 使用安装脚本重新安装：
+   ```bash
+   ./script.sh
+   # 选择选项 [2]: Install SDK
+   ```
+
+4. 手动指定库路径（在 CMakeLists.txt 中）：
+   ```cmake
+   set(LINKER_HAND_LIB ${CMAKE_CURRENT_SOURCE_DIR}/lib/x86_64/liblinkerhand_cpp_sdk.so)
+   ```
+
+---
+
+### 问题：找不到头文件
+
+**错误信息**:
+```
+fatal error: LinkerHandApi.h: No such file or directory
+```
+
+**可能原因**:
+1. 头文件路径未正确配置
+2. 头文件未安装
+
+**解决方案**:
+1. 检查头文件是否存在：
+   ```bash
+   ls -la include/LinkerHandApi.h
+   ```
+
+2. 在 CMakeLists.txt 中添加包含目录：
+   ```cmake
+   include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
+   ```
+
+3. 如果已安装，检查安装路径：
+   ```bash
+   ls /usr/local/include/linkerhand-cpp-sdk/
+   ```
+
+---
+
+### 问题：链接错误
+
+**错误信息**:
+```
+undefined reference to `LinkerHandApi::...`
+```
+
+**可能原因**:
+1. 未链接库文件
+2. 库文件版本不匹配
+3. 缺少依赖库（如 pthread）
+
+**解决方案**:
+1. 确保在 CMakeLists.txt 中链接库：
+   ```cmake
+   target_link_libraries(your_target ${LINKER_HAND_LIB} pthread)
+   ```
+
+2. 检查库文件完整性：
+   ```bash
+   ldd lib/x86_64/liblinkerhand_cpp_sdk.so
+   ```
+
+3. 重新编译和安装 SDK
+
+---
+
+### 问题：枚举命名冲突编译错误
+
+**错误信息**:
+```
+error: 'JOINT_POSITION' conflicts with a previous declaration
+error: 'TORQUE_LIMIT' conflicts with a previous declaration
+error: 'TOUCH_SENSOR_TYPE' conflicts with a previous declaration
+```
+
+**可能原因**:
+在旧版本中，多个枚举类型（`L6FrameProperty`、`L7FrameProperty`、`L10FrameProperty` 等）使用 `typedef enum`，导致枚举值泄漏到外层命名空间，当多个头文件同时被包含时会发生命名冲突。
+
+**解决方案**:
+此问题已在最新版本中修复。所有枚举类型已改为使用 `enum class`（C++11 强类型枚举），每个枚举值都在自己的作用域内，不会发生命名冲突。
+
+**如果使用旧版本**:
+1. 升级到最新版本的 SDK
+2. 如果必须使用旧版本，可以：
+   - 避免同时包含多个型号的头文件
+   - 使用前向声明和单独编译单元
+   - 使用命名空间别名隔离不同的枚举类型
+
+**新版本使用方式**:
+```cpp
+// 使用作用域限定符访问枚举值
+linkerhand::hand::L6FrameProperty prop = linkerhand::hand::L6FrameProperty::JOINT_POSITION;
+
+// 转换为整数（用于 CAN 帧）
+uint8_t frameProperty = static_cast<uint8_t>(linkerhand::hand::L6FrameProperty::JOINT_POSITION);
+```
+
+---
+
+### 问题：CMake 版本过低
+
+**错误信息**:
+```
+CMake 3.5 or higher is required
+```
+
+**解决方案**:
+1. 升级 CMake：
+   ```bash
+   # Ubuntu/Debian
+   sudo apt-get update
+   sudo apt-get install cmake
+   
+   # 或从源码编译最新版本
+   ```
+
+2. 检查 CMake 版本：
+   ```bash
+   cmake --version
+   ```
+
+---
+
+## 运行时问题
+
+### 问题：程序崩溃或段错误
+
+**可能原因**:
+1. 通信接口未正确初始化
+2. 设备未连接
+3. 参数数组长度不匹配
+4. 内存访问错误
+
+**解决方案**:
+1. 检查设备连接：
+   ```bash
+   # CAN 总线
+   ip link show can0
+   cansend can0 123#DEADBEEF  # 测试 CAN 通信
+   ```
+
+2. 检查参数数组长度：
+   ```cpp
+   // L10 需要 10 个元素
+   if (pose.size() != 10) {
+       std::cerr << "错误: pose 数组长度应为 10" << std::endl;
+       return;
+   }
+   hand.fingerMove(pose);
+   ```
+
+3. 使用调试工具：
+   ```bash
+   gdb ./your_program
+   # 或
+   valgrind --leak-check=full ./your_program
+   ```
+
+4. 添加错误检查：
+   ```cpp
+   try {
+       LinkerHandApi hand(LINKER_HAND::L10, HAND_TYPE::RIGHT);
+       // ...
+   } catch (const std::exception& e) {
+       std::cerr << "错误: " << e.what() << std::endl;
+   }
+   ```
+
+---
+
+### 问题：设备无响应
+
+**可能原因**:
+1. 通信接口配置错误
+2. 设备未上电
+3. 通信协议不匹配
+4. 设备地址错误
+
+**解决方案**:
+1. 检查设备电源和连接
+
+2. 验证通信接口：
+   ```cpp
+   // 尝试不同的通信接口
+   LinkerHandApi hand1(LINKER_HAND::L10, HAND_TYPE::RIGHT, COMM_CAN_0);
+   LinkerHandApi hand2(LINKER_HAND::L10, HAND_TYPE::RIGHT, COMM_CAN_1);
+   LinkerHandApi hand3(LINKER_HAND::L10, HAND_TYPE::RIGHT, COMM_MODBUS);
+   LinkerHandApi hand4(LINKER_HAND::L10, HAND_TYPE::RIGHT, COMM_ETHERCAT);
+   ```
+
+3. 检查通信接口状态：
+   
+   **CAN 总线**:
+   ```bash
+   # 查看 CAN 接口
+   ip link show can0
+   
+   # 启动 CAN 接口（如果未启动）
+   sudo ip link set can0 up type can bitrate 500000
+   
+   # 监听 CAN 消息
+   candump can0
+   ```
+   
+   **ModBus**:
+   - 检查串口设备或网络连接
+   - 验证 ModBus 配置参数
+   
+   **EtherCAT**:
+   - 使用 EtherCAT 主站工具检查网络状态
+   - 验证从站配置和连接
+
+4. 检查设备 ID 和地址设置
+
+---
+
+### 问题：关节不运动或运动异常
+
+**可能原因**:
+1. 速度和扭矩设置不当
+2. 参数值超出范围
+3. 电机故障
+4. 机械卡阻
+
+**解决方案**:
+1. 检查速度和扭矩设置：
+   ```cpp
+   // 设置合适的速度和扭矩
+   std::vector<uint8_t> speed = {200, 200, 200, 200, 200};
+   std::vector<uint8_t> torque = {255, 255, 255, 255, 255};
+   hand.setSpeed(speed);
+   hand.setTorque(torque);
+   ```
+
+2. 检查参数范围：
+   ```cpp
+   // 确保所有值在 0-255 范围内
+   for (auto& val : pose) {
+       if (val > 255) val = 255;
+       if (val < 0) val = 0;
+   }
+   ```
+
+3. 检查故障码：
+   ```cpp
+   auto fault_code = hand.getFaultCode();
+   for (size_t i = 0; i < fault_code.size(); i++) {
+       if (fault_code[i] != 0) {
+           std::cout << "警告: 电机 " << i << " 故障码: " 
+                     << static_cast<int>(fault_code[i]) << std::endl;
+       }
+   }
+   ```
+
+4. 检查温度：
+   ```cpp
+   auto temperature = hand.getTemperature();
+   for (size_t i = 0; i < temperature.size(); i++) {
+       if (temperature[i] > 80) {  // 假设阈值
+           std::cout << "警告: 电机 " << i << " 温度过高: " 
+                     << static_cast<int>(temperature[i]) << std::endl;
+       }
+   }
+   ```
+
+---
+
+## 通信问题
+
+### 问题：通信接口连接失败
+
+**错误现象**:
+- 设备无响应
+- 数据读取失败
+- 通信超时
+
+**可能原因**:
+- 通信接口未正确配置
+- 设备未连接或未上电
+- 通信协议不匹配
+- 权限问题
+
+**解决方案**:
+根据使用的通信协议，参考以下配置：
+
+### CAN 总线通信问题
+
+**错误现象**:
+- 设备无响应
+- 数据读取失败
+- 通信超时
+
+**解决方案**:
+1. **检查 CAN 接口配置**:
+   ```bash
+   # 查看 CAN 接口状态
+   ip link show can0
+   
+   # 配置 CAN 接口
+   sudo ip link set can0 type can bitrate 500000
+   sudo ip link set can0 up
+   ```
+
+2. **检查 CAN 总线连接**:
+   ```bash
+   # 测试 CAN 通信
+   cansend can0 123#DEADBEEF
+   candump can0
+   ```
+
+3. **检查权限**:
+   ```bash
+   # 可能需要 root 权限或添加用户到 dialout 组
+   sudo usermod -a -G dialout $USER
+   # 重新登录后生效
+   ```
+
+4. **检查终端电阻**:
+   - CAN 总线两端需要 120Ω 终端电阻
+   - 检查硬件连接
+
+### ModBus 通信问题
+
+**错误现象**:
+- ModBus 连接失败
+- 数据读取超时
+- 串口权限错误
+
+**解决方案**:
+1. **检查串口权限**:
+   ```bash
+   # 添加用户到 dialout 组
+   sudo usermod -a -G dialout $USER
+   # 重新登录后生效
+   
+   # 检查串口设备
+   ls -l /dev/ttyUSB*  # USB 转串口
+   ls -l /dev/ttyS*    # 串口
+   ```
+
+2. **检查串口配置**:
+   - 确认串口设备路径正确
+   - 检查波特率、数据位、停止位、校验位设置
+   - 验证 ModBus 从站地址
+
+3. **测试 ModBus 通信**:
+   - 使用 ModBus 测试工具验证连接
+   - 检查网络连接（ModBus TCP/IP）
+
+### EtherCAT 通信问题
+
+**错误现象**:
+- EtherCAT 主站无法识别从站
+- 网络拓扑错误
+- 同步失败
+
+**解决方案**:
+1. **检查 EtherCAT 主站配置**:
+   - 确保 EtherCAT 主站软件已正确安装
+   - 验证主站配置与硬件匹配
+
+2. **检查网络拓扑**:
+   - 验证 EtherCAT 从站设备已正确连接
+   - 检查网络线缆和连接器
+   - 确认网络拓扑正确（环形或线性）
+
+3. **检查从站状态**:
+   - 使用 EtherCAT 主站工具检查从站状态
+   - 验证从站配置和地址
+
+4. **检查同步**:
+   - 确保 EtherCAT 网络同步正常
+   - 检查分布式时钟（DC）配置（如适用）
+
+---
+
+## API 使用问题
+
+### 问题：参数数组长度错误
+
+**错误现象**:
+- 程序崩溃
+- 关节运动异常
+- 未定义行为
+
+**解决方案**:
+1. **根据型号使用正确的数组长度**:
+   ```cpp
+   std::vector<uint8_t> pose;
+   
+   switch (hand.handModel_) {
+       case LINKER_HAND::L6:
+       case LINKER_HAND::O6:
+           pose.resize(6);
+           break;
+       case LINKER_HAND::L7:
+           pose.resize(7);
+           break;
+       case LINKER_HAND::L10:
+           pose.resize(10);
+           break;
+       case LINKER_HAND::L20:
+           pose.resize(20);
+           break;
+       case LINKER_HAND::L21:
+       case LINKER_HAND::L25:
+           pose.resize(25);
+           break;
+   }
+   ```
+
+2. **添加参数验证**:
+   ```cpp
+   void safeFingerMove(LinkerHandApi& hand, const std::vector<uint8_t>& pose) {
+       int expected_size = 0;
+       switch (hand.handModel_) {
+           case LINKER_HAND::L10: expected_size = 10; break;
+           case LINKER_HAND::L20: expected_size = 20; break;
+           // ...
+       }
+       
+       if (pose.size() != expected_size) {
+           std::cerr << "错误: 数组长度应为 " << expected_size 
+                     << "，实际为 " << pose.size() << std::endl;
+           return;
+       }
+       
+       hand.fingerMove(pose);
+   }
+   ```
+
+---
+
+### 问题：功能不支持
+
+**错误现象**:
+- 调用特定型号不支持的功能
+- 无响应或错误
+
+**解决方案**:
+1. **检查型号支持**:
+   ```cpp
+   // 仅 L20 支持 setCurrent
+   if (hand.handModel_ == LINKER_HAND::L20) {
+       hand.setCurrent(current);
+   } else {
+       std::cerr << "警告: setCurrent 仅支持 L20" << std::endl;
+   }
+   ```
+
+2. **参考功能支持矩阵**:
+   - 查看 [API 参考文档](API-Reference.md#版本兼容性)
+   - 了解各型号支持的功能
+
+---
+
+### 问题：返回值理解错误
+
+**错误现象**:
+- 数据解析错误
+- 单位换算错误
+
+**解决方案**:
+1. **理解返回值格式**:
+   ```cpp
+   // getForce() 返回三维向量
+   auto force = hand.getForce();
+   // force[finger][sensor_type][data]
+   
+   // getTemperature() 返回温度值（可能需要换算）
+   auto temp = hand.getTemperature();
+   // 具体换算方式请参考设备手册
+   ```
+
+2. **参考 API 文档**:
+   - 查看 [API 参考文档](API-Reference.md) 了解返回值格式
+   - 参考设备手册了解数据含义
+
+---
+
+## 性能问题
+
+### 问题：响应延迟
+
+**可能原因**:
+1. 通信延迟
+2. 处理速度慢
+3. 系统负载高
+
+**解决方案**:
+1. **优化通信频率**:
+   ```cpp
+   // 避免过于频繁的 API 调用
+   // 添加适当的延时
+   std::this_thread::sleep_for(std::chrono::milliseconds(10));
+   ```
+
+2. **使用多线程**:
+   ```cpp
+   // 在单独线程中处理传感器数据
+   std::thread sensor_thread([&hand]() {
+       while (running) {
+           auto force = hand.getForce();
+           // 处理数据...
+           std::this_thread::sleep_for(std::chrono::milliseconds(100));
+       }
+   });
+   ```
+
+3. **减少不必要的调用**:
+   - 缓存不需要实时更新的数据
+   - 批量处理操作
+
+---
+
+### 问题：CPU 占用过高
+
+**可能原因**:
+1. 轮询频率过高
+2. 阻塞操作
+3. 资源泄漏
+
+**解决方案**:
+1. **降低轮询频率**:
+   ```cpp
+   // 从 10ms 改为 100ms
+   std::this_thread::sleep_for(std::chrono::milliseconds(100));
+   ```
+
+2. **使用事件驱动**:
+   - 避免轮询，使用回调或事件
+   - 仅在需要时读取数据
+
+3. **检查资源管理**:
+   ```cpp
+   // 确保正确释放资源
+   // 使用 RAII 原则
+   ```
+
+---
+
+## 获取帮助
+
+如果以上解决方案无法解决您的问题，请尝试以下方式获取帮助：
+
+1. **查看文档**:
+   - [API 参考文档](API-Reference.md)
+   - [常见问题解答](FAQ.md)
+   - [README](README.md)
+
+2. **检查示例代码**:
+   - 查看 `examples/` 目录下的示例
+   - 参考示例代码的使用方式
+
+3. **联系技术支持**:
+   - **官方网站**: [https://linkerbot.cn](https://linkerbot.cn)
+   - **技术支持**: [https://linkerbot.cn/aboutUs](https://linkerbot.cn/aboutUs)
+   - **GitHub Issues**: [https://github.com/linker-bot/linkerhand-cpp-sdk/issues](https://github.com/linker-bot/linkerhand-cpp-sdk/issues)
+
+4. **提供问题信息**:
+   在寻求帮助时，请提供以下信息：
+   - 错误信息或日志
+   - 系统信息（操作系统、架构）
+   - SDK 版本
+   - 设备型号
+   - 复现步骤
+   - 相关代码片段

examples/README.md

+# 示例代码说明
+
+本文档介绍 LinkerHand-CPP-SDK 提供的示例代码及其使用方法。
+
+## 目录
+
+- [示例列表](#示例列表)
+- [如何运行示例](#如何运行示例)
+- [示例详细说明](#示例详细说明)
+- [学习路径](#学习路径)
+- [常见问题](#常见问题)
+
+---
+
+## 示例列表
+
+| 示例文件 | 功能描述 | 适用型号 | 难度 |
+|---------|---------|---------|------|
+| `toolset_example.cpp` | 交互式工具集，演示所有 API 功能 | 所有型号 | 中级 |
+| `o6_async_reader.cpp` | O6 后台采集示例，主线程只消费快照 | O6/L6 | 中级 |
+| `action_group_show_l10.cpp` | L10 型号的动作组演示 | L10 | 初级 |
+
+---
+
+## 如何运行示例
+
+### 方法一：使用安装脚本（推荐）
+
+```bash
+./script.sh
+# 选择选项 [6]: Run examples
+```
+
+### 方法二：手动编译和运行
+
+```bash
+# 1. 构建项目
+mkdir build && cd build
+cmake ..
+make
+
+# 2. 运行示例
+./toolset_example
+./o6_async_reader
+./action_group_show_l10
+```
+
+### 方法三：直接编译示例
+
+```bash
+# 编译 toolset_example
+g++ -std=c++11 examples/toolset_example.cpp -I./include \
+    -L./lib/x86_64 -llinkerhand_cpp_sdk -lpthread -o toolset_example
+
+# 编译 o6_async_reader
+g++ -std=c++11 examples/o6_async_reader.cpp -I./include \
+    -L./lib/x86_64 -llinkerhand_cpp_sdk -lpthread -o o6_async_reader
+
+# 运行
+./toolset_example
+./o6_async_reader
+```
+
+---
+
+## 示例详细说明
+
+### toolset_example.cpp
+
+**功能描述**
+交互式工具集，提供菜单界面，可以测试所有 API 功能。适合学习和调试。
+
+**主要功能**:
+1. 获取版本信息
+2. 获取温度数据
+3. 获取故障码
+4. 获取电流数据
+5. 获取扭矩数据
+6. 获取速度数据
+7. 获取压力传感信息
+8. 循环获取关节状态
+9. 执行预设动作
+10. 清除故障码
+
+**使用步骤**:
+1. 运行程序
+2. 选择机械手型号（L6/O6、L7、L10、L20、L21、L25）
+3. 选择手部方向（左手/右手）
+4. 选择通信接口（CAN0、CAN1、ModBus、EtherCAT）
+5. 进入交互菜单，选择要测试的功能
+
+**代码结构**:
+```cpp
+// 1. 选择型号
+// 2. 选择手部方向
+// 3. 选择通信接口
+// 4. 创建 API 实例
+LinkerHandApi hand(linkerhand, handType, channel);
+
+// 5. 进入交互模式
+interactiveMode(hand);
+```
+
+**预设动作**:
+- **L6**: 单指循环弯曲
+- **L7**: 握拳和张开
+- **L10**: 
+  - 手指循环弯曲
+  - 拇指与其他手指循环对指
+  - 手指侧摆
+  - 握拳和张开
+- **L20**: 握拳和张开
+- **L21/L25**: 握拳和张开
+
+**使用示例**:
+```bash
+$ ./toolset_example
+
+=========================
+        Example
+=========================
+
+Run Choose LinkerHand:
+-------------------------
+[1]: L6/O6
+-------------------------
+[2]: L7
+-------------------------
+[3]: L10
+-------------------------
+...
+```
+
+---
+
+### o6_async_reader.cpp
+
+**功能描述**
+O6 后台采集示例。设备读取放到独立线程中执行，主线程只读取最近一次快照。
+
+**主要功能**:
+1. 周期性读取 `getState()`
+2. 周期性读取 `getTorque()`
+3. 周期性读取 `getTemperature()`
+4. 周期性读取 `getFaultCode()`
+5. 周期性读取 `getForce()`
+6. 检测快照是否超时并标记 `STALE`
+
+**适用场景**:
+- 不希望采集逻辑阻塞主线程
+- 需要持续监控 O6/L6 状态
+- 希望把控制线程和读取线程拆开
+
+**使用说明**:
+- 默认参数为 `O6 + RIGHT + can0 + 1000000`
+- 若项目还有控制线程，建议控制和读取分别使用独立 `LinkerHandApi` 实例
+- 若读取长时间没有更新，输出会标记为 `STALE`
+
+**使用示例**:
+```bash
+$ ./o6_async_reader
+O6 async reader started.
+Main thread only consumes cached snapshots.
+Press Ctrl+C to stop.
+```
+
+---
+
+### action_group_show_l10.cpp
+
+**功能描述**
+专门为 L10 型号设计的动作组演示程序。展示如何实现连续的动作序列。
+
+**主要功能**:
+- 演示 L10 型号的各种动作组合
+- 展示动作序列的编程方式
+- 适合学习动作控制的基本方法
+
+**适用型号**: L10（适配球形拇指根部关节版本）
+
+**代码特点**:
+- 使用关节映射表管理关节状态
+- 实现动作序列的循环执行
+- 支持左右手（默认右手，修改 `HAND_TYPE::RIGHT` 为 `HAND_TYPE::LEFT` 可切换为左手）
+
+**关节映射**:
+```cpp
+// L10 关节顺序
+vector<string> joint_order = {
+    "joint1",  // 拇指根部弯曲
+    "joint2",  // 拇指侧摆
+    "joint3",  // 食指根部弯曲
+    "joint4",  // 中指根部弯曲
+    "joint5",  // 无名指根部弯曲
+    "joint6",  // 小指根部弯曲
+    "joint7",  // 食指侧摆
+    "joint8",  // 中指侧摆
+    "joint9",  // 无名指侧摆
+    "joint10"  // 拇指旋转
+};
+```
+
+**使用示例**:
+```bash
+$ ./action_group_show_l10
+# 程序会自动执行预设的动作序列
+```
+
+**注意事项**:
+- 本示例仅支持 L10 型号
+- 默认使用右手，如需左手请修改代码中的 `HAND_TYPE::RIGHT` 为 `HAND_TYPE::LEFT`
+- 确保设备已正确连接
+- 确保通信接口已正确配置（CAN 总线、ModBus 或 EtherCAT）
+
+---
+
+## 学习路径
+
+### 初学者
+
+1. **第一步**: 阅读 [README.md](../README.md) 了解基本概念
+2. **第二步**: 运行 `action_group_show_l10.cpp` 查看基本动作
+3. **第三步**: 阅读代码，理解关节控制的基本方法
+4. **第四步**: 尝试修改代码，实现自己的动作
+
+### 中级用户
+
+1. **第一步**: 运行 `toolset_example.cpp` 熟悉所有 API
+2. **第二步**: 阅读 [API 参考文档](../docs/API-Reference.md) 了解详细接口
+3. **第三步**: 参考示例代码实现自己的应用
+4. **第四步**: 学习传感器数据读取和处理
+
+### 高级用户
+
+1. **第一步**: 深入研究示例代码的实现细节
+2. **第二步**: 优化代码性能
+3. **第三步**: 实现复杂的动作序列
+4. **第四步**: 集成到自己的项目中
+
+---
+
+## 代码学习要点
+
+### 1. 初始化 API
+
+```cpp
+// 创建 API 实例
+LinkerHandApi hand(LINKER_HAND::L10, HAND_TYPE::RIGHT);
+```
+
+### 2. 设置速度和扭矩
+
+```cpp
+// 设置速度（5 个元素对应 5 根手指）
+std::vector<uint8_t> speed = {200, 200, 200, 200, 200};
+hand.setSpeed(speed);
+
+// 设置扭矩
+std::vector<uint8_t> torque = {255, 255, 255, 255, 255};
+hand.setTorque(torque);
+```
+
+### 3. 控制关节运动
+
+```cpp
+// L10 需要 10 个关节值
+std::vector<uint8_t> pose = {128, 128, 128, 128, 128, 128, 128, 128, 128, 128};
+hand.fingerMove(pose);
+
+// 等待动作完成
+std::this_thread::sleep_for(std::chrono::seconds(1));
+```
+
+### 4. 读取传感器数据
+
+```cpp
+// 获取压力数据
+auto force = hand.getForce();
+
+// 获取关节状态
+auto state = hand.getState();
+
+// 获取温度
+auto temperature = hand.getTemperature();
+```
+
+### 5. 错误处理
+
+```cpp
+// 检查故障码
+auto fault_code = hand.getFaultCode();
+for (size_t i = 0; i < fault_code.size(); i++) {
+    if (fault_code[i] != 0) {
+        std::cout << "警告: 电机 " << i << " 故障码: " 
+                  << static_cast<int>(fault_code[i]) << std::endl;
+    }
+}
+```
+
+---
+
+## 常见问题
+
+### Q1: 示例程序无法运行？
+
+**A**: 检查以下几点：
+1. 确保已正确编译
+2. 检查库文件路径是否正确
+3. 确保设备已连接
+4. 检查通信接口配置（CAN 总线等）
+
+详细排查请参考 [故障排查指南](../docs/TROUBLESHOOTING.md)。
+
+---
+
+### Q2: 如何修改示例代码适配其他型号？
+
+**A**: 
+1. 修改型号参数：
+   ```cpp
+   // 从 L10 改为 L20
+   LinkerHandApi hand(LINKER_HAND::L20, HAND_TYPE::RIGHT);
+   ```
+
+2. 修改关节数组长度：
+   ```cpp
+   // L20 需要 20 个关节值
+   std::vector<uint8_t> pose(20, 128);
+   ```
+
+3. 参考 [关节映射表](../README.md#关节映射表) 了解不同型号的关节配置
+
+---
+
+### Q3: 如何实现自己的动作序列？
+
+**A**: 
+1. 定义动作数组：
+   ```cpp
+   std::vector<std::vector<uint8_t>> actions = {
+       {255, 104, 255, 255, 255, 255, 255, 255, 255, 71},  // 动作1
+       {101, 60, 0, 0, 0, 0, 255, 255, 255, 51},            // 动作2
+       // ...
+   };
+   ```
+
+2. 循环执行：
+   ```cpp
+   for (const auto& pose : actions) {
+       hand.fingerMove(pose);
+       std::this_thread::sleep_for(std::chrono::seconds(1));
+   }
+   ```
+
+---
+
+### Q4: 如何读取和处理传感器数据？
+
+**A**: 参考 `toolset_example.cpp` 中的示例：
+
+```cpp
+// 获取压力数据
+auto force_data = hand.getForce();
+
+// 遍历每根手指
+for (size_t finger = 0; finger < force_data.size(); finger++) {
+    // 处理数据...
+}
+```
+
+详细说明请参考 [API 参考文档](../docs/API-Reference.md#getforce)。
+
+---
+
+### Q5: 示例代码中的延时时间如何设置？
+
+**A**: 延时时间取决于：
+- 动作的复杂度
+- 设置的速度
+- 设备的响应时间
+
+**建议**:
+- 简单动作: 0.5-1 秒
+- 复杂动作: 1-2 秒
+- 连续动作: 根据实际效果调整
+
+```cpp
+// 快速动作
+std::this_thread::sleep_for(std::chrono::milliseconds(500));
+
+// 标准动作
+std::this_thread::sleep_for(std::chrono::seconds(1));
+
+// 慢速动作
+std::this_thread::sleep_for(std::chrono::seconds(2));
+```
+
+---
+
+## 下一步
+
+- 阅读 [API 参考文档](../docs/API-Reference.md) 了解完整的 API
+- 查看 [故障排查指南](../docs/TROUBLESHOOTING.md) 解决遇到的问题
+- 参考 [常见问题解答](../docs/FAQ.md) 获取更多帮助
+- 贡献您的示例代码到项目
+
+如有问题，请参考 [故障排查指南](../docs/TROUBLESHOOTING.md) 或联系技术支持。

examples/action_group_show_l10.cpp

+// 本demo为适配球形拇指根部关节版本L10灵巧手，默认支持右手，如需左手，请将 HAND_TYPE::RIGHT 改为 HAND_TYPE::LEFT
+
+#include <vector>
+#include "LinkerHandApi.h"
+
+using namespace std;
+
+vector<string> joint_order = {"joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "joint7", "joint8", "joint9", "joint10"};
+
+map<string, int> hand = {
+    {"joint1", 255},   //拇指根部弯曲
+    {"joint2", 128},   //拇指侧摆
+    {"joint3", 255},   //食指根部弯曲  
+    {"joint4", 255},   //中指根部弯曲
+    {"joint5", 255},   //无名指根部弯曲
+    {"joint6", 255},   //小指根部弯曲
+    {"joint7", 128},   //食指侧摆
+    {"joint8", 128},   //中指侧摆
+    {"joint9", 128},   //无名指侧摆
+    {"joint10", 255}   //拇指旋转
+};
+
+int show_count = 0;
+int show_count_obj = 0;
+int show_step = 0;
+bool running = true;
+
+vector<uint8_t> showLeft() {
+    static vector<uint8_t> position;
+    show_count++;
+    if (show_count >= show_count_obj) {
+        show_count = 0;
+        switch (show_step) {
+            case 0:
+                show_step++;
+                show_count_obj = 100;
+                hand["joint1"] = 250;
+                hand["joint2"] = 250;
+                hand["joint3"] = 250;
+                hand["joint4"] = 250;
+                hand["joint5"] = 250;
+                hand["joint6"] = 250;
+                hand["joint7"] = 128;
+                hand["joint8"] = 128;
+                hand["joint9"] = 128;
+                hand["joint10"] = 250;
+                break;
+            case 1:
+                show_step++;
+                show_count_obj = 10;
+                hand["joint1"] = 250;
+                hand["joint2"] = 250;
+                hand["joint5"] = 0;
+                hand["joint6"] = 0;
+                hand["joint10"] = 250;
+                break;
+            case 2:
+                show_step++;
+                show_count_obj = 30;
+                hand["joint1"] = 40;
+                hand["joint2"] = 240;
+                hand["joint10"] = 80;
+                break;
+            case 3:
+                show_step++;
+                show_count_obj = 10;
+                hand["joint7"] = 200;
+                break;
+            case 4:
+                show_step++;
+                show_count_obj = 10;
+                hand["joint7"] = 50;
+                break;
+            case 5:
+                show_step++;
+                show_count_obj = 15;
+                hand["joint7"] = 128;
+                break;
+            case 6:
+                show_step++;
+                show_count_obj = 2;
+                hand["joint7"] = 50;
+                break;
+            case 7:
+                show_step++;
+                show_count_obj = 10;
+                hand["joint7"] = 128;
+                break;
+            case 8:
+                show_step++;
+                show_count_obj = 10;
+                hand["joint7"] = 50;
+                break;
+            case 9:
+                show_step++;
+                show_count_obj = 10;
+                hand["joint7"] = 128;
+                break;
+            case 10:
+                show_step++;
+                show_count_obj = 15;
+                hand["joint3"] = 100;
+                hand["joint4"] = 100;
+                break;
+            case 11:
+                show_step++;
+                show_count_obj = 15;
+                hand["joint3"] = 250;
+                hand["joint4"] = 250;
+                break;
+            case 12:
+                show_step++;
+                show_count_obj = 15;
+                hand["joint3"] = 100;
+                hand["joint4"] = 100;
+                break;
+            case 13:
+                show_step++;
+                show_count_obj = 15;
+                hand["joint1"] = 250;
+                hand["joint2"] = 250;
+                hand["joint3"] = 250;
+                hand["joint4"] = 250;
+                hand["joint5"] = 250;
+                hand["joint6"] = 250;
+                hand["joint7"] = 128;
+                hand["joint8"] = 128;
+                hand["joint9"] = 128;
+                hand["joint10"] = 250;
+                break;
+            case 14:
+                show_step++;
+                show_count_obj = 40;
+                hand["joint1"] = 40;
+                hand["joint2"] = 240;
+                hand["joint10"] = 80;
+                break;
+            case 15:
+                show_step++;
+                break;
+            case 16:
+                show_step++;
+                show_count_obj = 30;
+                hand["joint3"] = 10;
+                hand["joint4"] = 10;
+                hand["joint5"] = 10;
+                hand["joint6"] = 10;
+                break;
+            case 17:
+                show_step++;
+                show_count_obj = 15;
+                hand["joint6"] = 250;
+                break;
+            case 18:
+                show_step++;
+                show_count_obj = 15;
+                hand["joint5"] = 250;
+                break;
+            case 19:
+                show_step++;
+                show_count_obj = 15;
+                hand["joint4"] = 250;
+                break;
+            case 20:
+                show_step++;
+                show_count_obj = 15;
+                hand["joint3"] = 250;
+                break;
+            case 21:
+                show_step++;
+                show_count_obj = 20;
+                hand["joint1"] = 250;
+                hand["joint2"] = 110;
+                hand["joint10"] = 240;
+                break;
+            case 22:
+                show_step++;
+                show_count_obj = 20;
+                hand["joint1"] = 250;
+                hand["joint2"] = 10;
+                hand["joint10"] = 110;
+                break;
+            case 23:
+                show_step++;
+                show_count_obj = 40;
+                hand["joint1"] = 0;
+                hand["joint2"] = 10;
+                hand["joint10"] = 110;
+                break;
+            case 24:
+                show_step++;
+                show_count_obj = 30;
+                hand["joint1"] = 0;
+                hand["joint2"] = 240;
+                hand["joint10"] = 110;
+                break;
+            case 25:
+                show_step++;
+                show_count_obj = 50;
+                hand["joint1"] = 250;
+                hand["joint2"] = 250;
+                hand["joint10"] = 110;
+                break;
+            case 26:
+                show_step++;
+                show_count_obj = 10;
+                hand["joint7"] = 200;
+                hand["joint8"] = 200;
+                hand["joint9"] = 200;
+                break;
+            case 27:
+                show_step++;
+                show_count_obj = 15;
+                hand["joint7"] = 80;
+                hand["joint8"] = 80;
+                hand["joint9"] = 80;
+                break;
+            case 28:
+                show_step++;
+                show_count_obj = 20;
+                hand["joint7"] = 128;
+                hand["joint8"] = 128;
+                hand["joint9"] = 128;
+                break;
+            case 29:
+                show_step++;
+                show_count_obj = 15;
+                hand["joint1"] = 250;
+                hand["joint2"] = 250;
+                hand["joint10"] = 250;
+                break;
+            case 30:
+                show_step++;
+                break;
+            case 31:
+                show_step++;
+                break;
+            case 32:
+                show_step++;
+                break;
+            case 33:
+                show_step++;
+                show_count_obj = 15;
+                hand["joint3"] = 0;
+                hand["joint4"] = 250;
+                hand["joint5"] = 250;
+                hand["joint6"] = 250;
+                hand["joint1"] = 250;
+                hand["joint2"] = 250;
+                hand["joint10"] = 250;
+                break;
+            case 34:
+                show_step++;
+                show_count_obj = 15;
+                hand["joint4"] = 0;
+                break;
+            case 35:
+                show_step++;
+                show_count_obj = 15;
+                hand["joint5"] = 0;
+                break;
+            case 36:
+                show_step++;
+                show_count_obj = 15;
+                hand["joint6"] = 0;
+                break;
+            case 37:
+                show_step++;
+                show_count_obj = 40;
+                hand["joint1"] = 0;
+                break;
+            case 38:
+                show_step++;
+                show_count_obj = 40;
+                hand["joint1"] = 250;
+                hand["joint2"] = 230;
+                hand["joint10"] = 250;
+                break;
+            case 39:
+                show_step++;
+                show_count_obj = 30;
+                hand["joint3"] = 250;
+                hand["joint6"] = 250;
+                break;
+            case 40:
+                show_step++;
+                show_count_obj = 40;
+                hand["joint1"] = 10;
+                hand["joint2"] = 40;
+                hand["joint10"] = 60;
+                break;
+            case 41:
+                show_step++;
+                show_count_obj = 15;
+                hand["joint7"] = 80;
+                hand["joint9"] = 200;
+                break;
+            case 42:
+                show_step++;
+                show_count_obj = 15;
+                hand["joint7"] = 200;
+                hand["joint9"] = 80;
+                break;
+            case 43:
+                show_step++;
+                show_count_obj = 15;
+                hand["joint7"] = 80;
+                hand["joint9"] = 200;
+                break;
+            case 44:
+                show_step++;
+                show_count_obj = 15;
+                hand["joint7"] = 200;
+                hand["joint9"] = 80;
+                break;
+            case 45:
+                show_step++;
+                show_count_obj = 15;
+                hand["joint7"] = 128;
+                hand["joint9"] = 128;
+                break;
+            case 46:
+                show_step++;
+                show_count_obj = 50;
+                hand["joint1"] = 250;
+                hand["joint2"] = 250;
+                hand["joint3"] = 250;
+                hand["joint4"] = 250;
+                hand["joint5"] = 250;
+                hand["joint6"] = 250;
+                hand["joint7"] = 128;
+                hand["joint8"] = 128;
+                hand["joint9"] = 128;
+                hand["joint10"] = 250;
+                break;
+            case 47:
+                show_step++;
+                show_count_obj = 50;
+                hand["joint1"] = 130;
+                hand["joint2"] = 130;
+                hand["joint3"] = 130;
+                hand["joint4"] = 250;
+                hand["joint5"] = 250;
+                hand["joint6"] = 250;
+                hand["joint10"] = 90;
+                break;
+            case 48:
+                show_step++;
+                show_count_obj = 20;
+                hand["joint1"] = 250;
+                hand["joint3"] = 250;
+                hand["joint4"] = 120;
+                break;
+            case 49:
+                show_step++;
+                show_count_obj = 35;
+                hand["joint1"] = 120;
+                hand["joint4"] = 130;
+                hand["joint10"] = 60;
+                break;
+            case 50:
+                show_step++;
+                show_count_obj = 30;
+                hand["joint1"] = 250;
+                hand["joint4"] = 250;
+                hand["joint5"] = 145;
+                break;
+            case 51:
+                show_step++;
+                show_count_obj = 35;
+                hand["joint1"] = 113;
+                hand["joint2"] = 103;
+                hand["joint5"] = 128;
+                hand["joint10"] = 42;
+                break;
+            case 52:
+                show_step++;
+                show_count_obj = 30;
+                hand["joint1"] = 250;
+                hand["joint5"] = 250;
+                break;
+            case 53:
+                show_step++;
+                show_count_obj = 40;
+                hand["joint1"] = 118;
+                hand["joint2"] = 103;
+                hand["joint6"] = 120;
+                hand["joint10"] = 22;
+                break;
+            case 54:
+                show_step++;
+                show_count_obj = 20;
+                hand["joint1"] = 250;
+                hand["joint2"] = 250;
+                hand["joint3"] = 250;
+                hand["joint4"] = 250;
+                hand["joint5"] = 250;
+                hand["joint6"] = 250;
+                hand["joint7"] = 128;
+                hand["joint8"] = 128;
+                hand["joint9"] = 128;
+                hand["joint10"] = 250;
+                running = false;
+                break;
+            default:
+                break;
+        }
+        position.clear();
+        for (const auto& joint : joint_order) { // 按照固定的顺序提取关节值
+            std::cout << joint << " " << hand[joint] << std::endl;
+            position.push_back(static_cast<double>(hand[joint]));
+        }
+    }
+    return position;
+}
+
+int main() {
+
+    // 调用API接口
+    LinkerHandApi hand(LINKER_HAND::L10, HAND_TYPE::LEFT);
+    hand.setSpeed({100, 100, 100, 100, 100});
+    hand.setTorque({200, 200, 200, 200, 200});
+
+    while (running) {
+	    std::vector<uint8_t> action = showLeft();
+        hand.fingerMove(action);
+		std::this_thread::sleep_for(std::chrono::milliseconds(33));
+	}
+
+    return 0;
+}

examples/o6_async_reader.cpp

+#include "LinkerHandApi.h"
+#include "ErrorCode.h"
+
+#include <algorithm>
+#include <atomic>
+#include <chrono>
+#include <cstdint>
+#include <exception>
+#include <iomanip>
+#include <iostream>
+#include <mutex>
+#include <sstream>
+#include <string>
+#include <thread>
+#include <vector>
+
+namespace {
+
+using ForceData = std::vector<std::vector<std::vector<uint8_t>>>;
+using Clock = std::chrono::steady_clock;
+
+constexpr std::chrono::milliseconds kPollInterval(100);
+constexpr std::chrono::milliseconds kPrintInterval(200);
+constexpr std::chrono::milliseconds kStaleAfter(600);
+
+struct O6Snapshot {
+    uint64_t sequence = 0;
+    bool ready = false;
+    Clock::time_point updated_at{};
+    std::vector<uint8_t> state;
+    std::vector<uint8_t> torque;
+    std::vector<uint8_t> temperature;
+    std::vector<uint8_t> fault_code;
+    ForceData force;
+    std::string last_error;
+};
+
+std::string bytesToString(const std::vector<uint8_t> &values) {
+    if (values.empty()) {
+        return "[]";
+    }
+
+    std::ostringstream oss;
+    oss << "[";
+    for (size_t i = 0; i < values.size(); ++i) {
+        if (i != 0) {
+            oss << ' ';
+        }
+        oss << static_cast<int>(values[i]);
+    }
+    oss << "]";
+    return oss.str();
+}
+
+void appendError(O6Snapshot &snapshot, const std::string &label, const std::string &message) {
+    if (!snapshot.last_error.empty()) {
+        snapshot.last_error += " | ";
+    }
+    snapshot.last_error += label + ": " + message;
+}
+
+uint8_t maxSensorValue(const ForceData &force_data, size_t finger_index, size_t sensor_type_index) {
+    if (finger_index >= force_data.size()) {
+        return 0;
+    }
+    if (sensor_type_index >= force_data[finger_index].size()) {
+        return 0;
+    }
+
+    const auto &sensor_values = force_data[finger_index][sensor_type_index];
+    if (sensor_values.empty()) {
+        return 0;
+    }
+
+    return *std::max_element(sensor_values.begin(), sensor_values.end());
+}
+
+class O6AsyncReader {
+public:
+    O6AsyncReader(HAND_TYPE hand_type,
+                  std::string can_channel,
+                  int baudrate,
+                  std::chrono::milliseconds poll_interval)
+        : hand_(LINKER_HAND::O6, hand_type, can_channel, baudrate),
+          poll_interval_(poll_interval) {}
+
+    ~O6AsyncReader() {
+        stop();
+    }
+
+    void start() {
+        if (running_.exchange(true)) {
+            return;
+        }
+        worker_ = std::thread(&O6AsyncReader::pollLoop, this);
+    }
+
+    void stop() {
+        if (!running_.exchange(false)) {
+            return;
+        }
+        if (worker_.joinable()) {
+            worker_.join();
+        }
+    }
+
+    O6Snapshot snapshot() const {
+        std::lock_guard<std::mutex> lock(snapshot_mutex_);
+        return snapshot_;
+    }
+
+private:
+    template <typename Fn>
+    void readField(O6Snapshot &next, const char *name, Fn &&fn) {
+        try {
+            fn();
+        } catch (const linkerhand::UnsupportedFeatureException &e) {
+            appendError(next, name, std::string("unsupported - ") + e.what());
+        } catch (const std::exception &e) {
+            appendError(next, name, e.what());
+        }
+    }
+
+    void pollLoop() {
+        uint64_t sequence = 0;
+
+        while (running_.load()) {
+            const auto cycle_started = Clock::now();
+
+            O6Snapshot next;
+            next.sequence = ++sequence;
+            next.ready = true;
+            next.updated_at = cycle_started;
+
+            readField(next, "getState", [&]() { next.state = hand_.getState(); });
+            readField(next, "getTorque", [&]() { next.torque = hand_.getTorque(); });
+            readField(next, "getTemperature", [&]() { next.temperature = hand_.getTemperature(); });
+            readField(next, "getFaultCode", [&]() { next.fault_code = hand_.getFaultCode(); });
+            readField(next, "getForce", [&]() { next.force = hand_.getForce(); });
+
+            {
+                std::lock_guard<std::mutex> lock(snapshot_mutex_);
+                snapshot_ = std::move(next);
+            }
+
+            std::this_thread::sleep_until(cycle_started + poll_interval_);
+        }
+    }
+
+    LinkerHandApi hand_;
+    std::chrono::milliseconds poll_interval_;
+    std::atomic<bool> running_{false};
+    std::thread worker_;
+
+    mutable std::mutex snapshot_mutex_;
+    O6Snapshot snapshot_;
+};
+
+void printSnapshot(const O6Snapshot &snapshot) {
+    if (!snapshot.ready) {
+        std::cout << "waiting for first O6 snapshot..." << std::endl;
+        return;
+    }
+
+    const auto age = std::chrono::duration_cast<std::chrono::milliseconds>(
+        Clock::now() - snapshot.updated_at);
+    const bool stale = age > kStaleAfter;
+
+    const uint8_t thumb_force = maxSensorValue(snapshot.force, 0, 0);
+    const uint8_t index_force = maxSensorValue(snapshot.force, 1, 0);
+
+    std::cout << "seq=" << snapshot.sequence
+              << " age=" << age.count() << "ms";
+    if (stale) {
+        std::cout << " STALE";
+    }
+    std::cout << '\n';
+
+    std::cout << "state       : " << bytesToString(snapshot.state) << '\n';
+    std::cout << "torque      : " << bytesToString(snapshot.torque) << '\n';
+    std::cout << "temperature : " << bytesToString(snapshot.temperature) << '\n';
+    std::cout << "fault       : " << bytesToString(snapshot.fault_code) << '\n';
+    std::cout << "thumb_force : " << static_cast<int>(thumb_force)
+              << ", index_force: " << static_cast<int>(index_force) << '\n';
+
+    if (!snapshot.last_error.empty()) {
+        std::cout << "last_error  : " << snapshot.last_error << '\n';
+    }
+}
+
+} // namespace
+
+int main() {
+    try {
+        // 读取使用独立 SDK 实例和独立线程。
+        // 如果你的控制线程因为 fingerMove 等调用卡住，主线程和这个读取线程不会一起被抢占。
+        // 若你还需要控制，请为控制路径再创建一个独立 LinkerHandApi 实例，不要和读取复用同一个对象。
+        O6AsyncReader reader(HAND_TYPE::RIGHT, "can0", 1000000, kPollInterval);
+        reader.start();
+
+        std::cout << "O6 async reader started." << std::endl;
+        std::cout << "Main thread only consumes cached snapshots." << std::endl;
+        std::cout << "Press Ctrl+C to stop." << std::endl;
+
+        while (true) {
+            const O6Snapshot snapshot = reader.snapshot();
+            printSnapshot(snapshot);
+            std::cout << "------------------------------" << std::endl;
+            std::this_thread::sleep_for(kPrintInterval);
+        }
+    } catch (const std::exception &e) {
+        std::cerr << "Failed to start O6 async reader: " << e.what() << std::endl;
+        return 1;
+    }
+}

examples/toolset_example.cpp

+#include <iostream>
+#include <vector>
+#include <map>
+#include <string>
+#include <atomic>
+#include <array>
+#include "LinkerHandApi.h"
+
+#include <iostream>
+
+// 定义ANSI转义序列常量
+const std::string RESET = "\033[0m";
+const std::string BLACK = "\033[30m";
+const std::string RED = "\033[31m";
+const std::string GREEN = "\033[32m";
+const std::string YELLOW = "\033[33m";
+const std::string BLUE = "\033[34m";
+const std::string MAGENTA = "\033[35m";
+const std::string CYAN = "\033[36m";
+const std::string WHITE = "\033[37m";
+
+const std::string BG_BLACK = "\033[40m";
+const std::string BG_RED = "\033[41m";
+const std::string BG_GREEN = "\033[42m";
+const std::string BG_YELLOW = "\033[43m";
+const std::string BG_BLUE = "\033[44m";
+const std::string BG_MAGENTA = "\033[45m";
+const std::string BG_CYAN = "\033[46m";
+const std::string BG_WHITE = "\033[47m";
+
+const std::string BOLD = "\033[1m";
+const std::string UNDERLINE = "\033[4m";
+const std::string REVERSE = "\033[7m";
+
+#define HAND_SPEED 200
+#define HAND_TORQUE 255
+
+// 用于标记程序是否应该退出
+std::atomic<bool> running(true);
+
+COMM_TYPE channel;
+
+// 封装函数
+void printColorLine2() {
+#ifdef _WIN32
+    std::cout << YELLOW << "----------------------------------------------\n" << RESET;
+#else
+    std::cout << YELLOW << "——————————————————————————————————————————————\n" << RESET;
+#endif
+}
+
+void printColorLine1() {
+#ifdef _WIN32
+    std::cout << YELLOW << "-------------------------\n" << RESET;
+#else
+    std::cout << YELLOW << "—————————————————————————\n" << RESET;
+#endif
+}
+
+void printNoColorLine() {
+#ifdef _WIN32
+    std::cout << "----------------------------------------------" << std::endl;
+#else
+    std::cout << "——————————————————————————————————————————————" << std::endl;
+#endif
+}
+
+
+void exit()
+{
+    std::cout << "Exit the program ..." << std::endl;
+    running = false;
+    std::string can_channel;
+    
+    if (channel == COMM_CAN_0) can_channel = "can0";
+    if (channel == COMM_CAN_1) can_channel = "can1";
+    
+    // system(std::string("sudo /usr/sbin/ip link set " + can_channel + " down").c_str());
+    exit(0);
+}
+
+// 辅助函数：将字节向量转换为十六进制字符串
+std::string bytesToHex(const std::vector<uint8_t> &bytes)
+{
+    std::string hexStr;
+    for (uint8_t byte : bytes)
+    {
+        hexStr += std::to_string(byte) + " ";
+    }
+    return hexStr;
+}
+
+// 辅助函数：将二维字节向量转换为十六进制字符串
+std::string bytesToHex(const std::vector<std::vector<uint8_t>> &bytes)
+{
+    std::string hexStr;
+    for (const auto &vec : bytes)
+    {
+        for (uint8_t byte : vec)
+        {
+            hexStr += std::to_string(byte) + " ";
+        }
+        hexStr += "\n";
+    }
+    return hexStr;
+}
+
+// 全局变量
+int show_count = 0;
+int show_count_obj = 0;
+int show_step = 0;
+std::map<std::string, int> hand = {
+    {"joint1", 250}, {"joint2", 250}, {"joint3", 250}, {"joint4", 250}, {"joint5", 250},
+    {"joint6", 250}, {"joint7", 250}, {"joint8", 250}, {"joint9", 250}, {"joint10", 250},
+    {"joint11", 250}, {"joint12", 0}, {"joint13", 0}, {"joint14", 0}, {"joint15", 0},
+    {"joint16", 250}, {"joint17", 250}, {"joint18", 250}, {"joint19", 250}, {"joint20", 250},
+    {"joint21", 250}, {"joint22", 250}, {"joint23", 250}, {"joint24", 250}, {"joint25", 250}
+};
+
+// L6 - 执行动作 - 单指
+std::vector<std::vector<uint8_t>> L6_POSE_1 = {
+    {255, 255, 255, 255, 255, 255},
+    {0, 255, 255, 255, 255, 255},
+    {255, 0, 255, 255, 255, 255},
+    {255, 255, 0, 255, 255, 255},
+    {255, 255, 255, 0, 255, 255},
+    {255, 255, 255, 255, 0, 255},
+    {255, 255, 255, 255, 255, 0},
+    {255, 255, 255, 255, 255, 255}};
+
+// L7 - 执行动作 - 手掌握拳
+std::vector<std::vector<uint8_t>> L7_POSE_1 = {
+    {255, 255, 255, 255, 255, 255, 255},
+    {255, 255, 0, 255, 255, 255, 255},
+    {255, 255, 0, 0, 255, 255, 255},
+    {255, 255, 0, 0, 0, 255, 255},
+    {255, 255, 0, 0, 0, 0, 255},
+    {72, 90, 0, 0, 0, 0, 55}};
+// L7 - 执行动作 - 张开
+std::vector<uint8_t> L7_POSE_OPEN = {255, 255, 255, 255, 255, 255, 255};
+
+
+// L10 - 执行动作 - 手指循环弯曲
+std::vector<std::vector<uint8_t>> L10_POSE_1 = {
+    {35,140,255,255,255,255,255,255,255,30},    // 拇指弯曲
+    {255,70,255,255,255,255,255,255,255,255},   // 手掌张开
+    {255,70,0,255,255,255,255,255,255,255},     // 食指弯曲
+    {255,70,255,255,255,255,255,255,255,255},   // 手掌张开
+    {255,70,255,0,255,255,255,255,255,255},     // 中指弯曲
+    {255,70,255,255,255,255,255,255,255,255},   // 手掌张开
+    {255,70,255,255,0,255,255,255,255,255},     // 无名指弯曲
+    {255,70,255,255,255,255,255,255,255,255},   // 手掌张开
+    {255,70,255,255,255,0,255,255,255,255},     // 小拇指弯曲
+    {255,70,255,255,255,255,255,255,255,255}    // 手掌张开
+};
+
+// L10 - 执行动作 - 拇指与其他手指循环对指
+std::vector<std::vector<uint8_t>> L10_POSE_2 = {
+    {255, 70, 255, 255, 255, 255, 255, 255, 255, 255},  // 手掌张开
+    {145, 128, 146, 255, 255, 255, 255, 255, 255, 90},  // 拇指对食指
+    {255, 70, 255, 255, 255, 255, 255, 255, 255, 255},  // 手掌张开
+    {145, 88, 255, 148, 255, 255, 255, 255, 255, 75},   // 拇指对中指
+    {255, 70, 255, 255, 255, 255, 255, 255, 255, 255},  // 手掌张开
+    {145, 63, 255, 255, 150, 255, 255, 255, 255, 60},   // 拇指对无名指
+    {255, 70, 255, 255, 255, 255, 255, 255, 255, 255},  // 手掌张开
+    {147, 70, 255, 255, 255, 131, 255, 255, 120, 27},   // 拇指对小拇指
+    {255, 70, 255, 255, 255, 255, 255, 255, 255, 255}   // 手掌张开
+};
+
+// L10 - 执行动作 - 手指侧摆
+std::vector<std::vector<uint8_t>> L10_POSE_3 = {
+    {255, 255, 255, 255, 255, 255, 40, 88, 80, 63},     // 手掌张开
+    {255, 0, 255, 255, 255, 255, 40, 88, 80, 63},       // 拇指侧摆
+    {255, 70, 255, 255, 255, 255, 40, 88, 80, 0},       // 手掌张开
+    {255, 255, 255, 255, 255, 255, 40, 88, 80, 255},    // 拇指旋转
+    {255, 255, 255, 255, 255, 255, 40, 88, 80, 63},     // 手掌张开
+    {255, 255, 255, 255, 255, 255, 255, 88, 80, 63},    // 食指侧摆
+    {255, 255, 255, 255, 255, 255, 40, 88, 80, 63},     // 手掌张开
+    {255, 255, 255, 255, 255, 255, 40, 255, 80, 63},    // 无名指侧摆
+    {255, 255, 255, 255, 255, 255, 40, 88, 80, 63},     // 手掌张开
+    {255, 255, 255, 255, 255, 255, 40, 88, 255, 63},    // 小拇指侧摆
+    {255, 255, 255, 255, 255, 255, 40, 88, 80, 63}      // 手掌张开
+};
+
+// L10 - 执行动作 - 张开
+std::vector<uint8_t> L10_POSE_OPEN = {255, 104, 255, 255, 255, 255, 255, 255, 255, 71};
+// L10 - 执行动作 - 握拳
+std::vector<uint8_t> L10_POSE_CLOSE = {101, 60, 0, 0, 0, 0, 255, 255, 255, 51};
+
+void interactiveMode(LinkerHandApi &hand)
+{
+    int choice;
+    while (running)
+    {
+        // std::cout << YELLOW << "——————————————————————————————————————————————\n" << RESET;
+        std::cout << GREEN << "Run Choose Task:\n" << RESET;
+        printColorLine2();
+        std::cout << BLUE << " 1. Obtain version information\n" << RESET;
+        std::cout << BLUE << " 2. Obtain temperature\n" << RESET;
+        std::cout << BLUE << " 3. Obtain fault codes\n" << RESET;
+        std::cout << BLUE << " 4. Obtain current\n" << RESET;
+        std::cout << BLUE << " 5. Obtain torque\n" << RESET;
+        std::cout << BLUE << " 6. Obtain speed\n" << RESET;
+        std::cout << BLUE << " 7. Obtain pressure sensing information 1\n" << RESET;
+        std::cout << BLUE << " 8. Obtain pressure sensing information 2\n" << RESET;
+        std::cout << BLUE << " 9. Clear fault codes\n" << RESET;
+        std::cout << BLUE << "10. Loop to obtain the current finger joint status 10 times\n" << RESET;
+        std::cout << BLUE << "11. Execute preset actions\n" << RESET;
+        std::cout << RED << "0. Exit\n" << RESET;
+        printColorLine2();
+        std::cout << GREEN << "Please enter options: " << RESET;
+        std::cin >> choice;
+
+        if (choice != 1)
+            printNoColorLine();
+
+        std::string pose_str;
+        int arr[7];
+        std::vector<uint8_t> pose;
+
+        switch (choice)
+        {
+        case 1:
+            std::cout << hand.getVersion() << std::endl;
+            break;
+        case 2:
+            std::cout << "Obtain temperature: " << bytesToHex(hand.getTemperature()) << std::endl;
+            break;
+        case 3:
+            std::cout << "Obtain fault codes: " << bytesToHex(hand.getFaultCode()) << std::endl;
+            break;
+        case 4:
+            std::cout << "Obtain current: " << bytesToHex(hand.getCurrent()) << std::endl;
+            break;
+        case 5:
+            std::cout << "Obtain torque: " << std::endl;
+            for (size_t i = 0; i < 10; i++) 
+            {
+                std::cout << bytesToHex(hand.getTorque()) << std::endl;
+                std::this_thread::sleep_for(std::chrono::milliseconds(100));
+            }
+            break;
+        case 6:
+            std::cout << "Obtain speed: " << bytesToHex(hand.getSpeed()) << std::endl;
+            break;
+        case 7:
+            for (size_t i = 0; i < 30; i++) 
+            {
+                std::vector<std::vector<std::vector<uint8_t>>> touch_mats = hand.getForce();
+                // 手指名称表，顺序对应 touch_mats[0..4]
+                const std::array<const char*, 5> finger_name = {
+                    "THUMB_TOUCH", "INDEX_TOUCH", "MIDDLE_TOUCH", "RING_TOUCH", "LITTLE_TOUCH"
+                };
+
+                for (size_t n = 0; n < touch_mats.size(); ++n) {
+                    std::cout << finger_name[n] << ":\n";
+                    for (const auto &row : touch_mats[n])
+                    {
+                        for (uint8_t val : row)
+                            std::cout << std::setw(3) << static_cast<int>(val) << ' ';
+                        std::cout << '\n';
+                    }
+                    std::cout << '\n';
+                }
+
+                std::this_thread::sleep_for(std::chrono::milliseconds(100));
+            }
+            break;
+        case 8:
+            std::cout << "NULL \n" << std::endl;
+            break;
+        case 9:
+            std::cout << "Clear fault codes\n" << std::endl;
+            hand.clearFaultCode();
+            break;
+        case 10:
+            for (size_t i = 0; i < 10; i++) 
+            {
+                std::cout << bytesToHex(hand.getState()) << std::endl;
+                std::this_thread::sleep_for(std::chrono::milliseconds(100));
+            }
+            break;
+        case 11:
+            if (hand.handModel_ == LINKER_HAND::L6) {
+                std::cout << "L6 - Execute action" << std::endl;
+
+                for (size_t i = 0; i < 10; i++) {
+                    for (const auto &pose : L6_POSE_1) {
+                        hand.fingerMove(pose);
+                        std::this_thread::sleep_for(std::chrono::milliseconds(150));
+                    }
+                    std::this_thread::sleep_for(std::chrono::milliseconds(150));
+                }
+                
+
+            } else if (hand.handModel_ == LINKER_HAND::L7) {
+                hand.setSpeed(std::vector<uint8_t>(7, HAND_SPEED)); // L7 need 7 speed
+                hand.setTorque(std::vector<uint8_t>(7, HAND_TORQUE)); // L7 need 7 torque
+                //---------------------------------------------------------
+                std::cout << "L7 - Execute action - Make a fist" << std::endl;
+                for (const auto &pose : L7_POSE_1)
+                {
+                    hand.fingerMove(pose);
+                    std::this_thread::sleep_for(std::chrono::seconds(1)); // 等待1秒
+                }
+                //---------------------------------------------------------
+                std::cout << "L7 - Execute action - Open hand" << std::endl;
+                hand.fingerMove(L7_POSE_OPEN);
+                std::this_thread::sleep_for(std::chrono::seconds(1));
+                //---------------------------------------------------------
+            }
+            else if (hand.handModel_ == LINKER_HAND::L10)
+            {
+                hand.setSpeed(std::vector<uint8_t>(5, HAND_SPEED)); // L10 need 5 speed
+                hand.setTorque(std::vector<uint8_t>(5, HAND_TORQUE)); // L10 need 5 torque
+                //---------------------------------------------------------
+                std::cout << "L10 - Execute action - Finger cycle bending" << std::endl;
+                for (const auto &pose : L10_POSE_1)
+                {
+                    hand.fingerMove(pose);
+                    std::this_thread::sleep_for(std::chrono::seconds(1));
+                }
+                //---------------------------------------------------------
+                std::cout << "L10 - Execute action - Thumb and Circular Fingers" << std::endl;
+                for (const auto &pose : L10_POSE_2)
+                {
+                    hand.fingerMove(pose);
+                    std::this_thread::sleep_for(std::chrono::seconds(1));
+                }
+                //---------------------------------------------------------
+                std::cout << "L10 - Execute action - Finger side swing" << std::endl;
+                for (const auto &pose : L10_POSE_3)
+                {
+                    hand.fingerMove(pose);
+                    std::this_thread::sleep_for(std::chrono::seconds(1));
+                }
+                //---------------------------------------------------------
+                std::cout << "L10 - Execute action - Make a fist" << std::endl;
+                hand.fingerMove(L10_POSE_CLOSE);
+                std::this_thread::sleep_for(std::chrono::seconds(1));
+                //---------------------------------------------------------
+                std::cout << "L10 - Execute action - Open hand" << std::endl;
+                hand.fingerMove(L10_POSE_OPEN);
+                std::this_thread::sleep_for(std::chrono::seconds(1));
+                //---------------------------------------------------------
+            }
+            else if (hand.handModel_ == LINKER_HAND::L20)
+            {
+                hand.setSpeed(std::vector<uint8_t>(5, HAND_SPEED)); // L20 need 5 speed
+                //---------------------------------------------------------
+                std::cout << "L20 - Execute action - Make a fist" << std::endl;
+                std::vector<uint8_t> L20_POSE_CLOSE = {69, 0, 0, 0, 0, 32, 10, 100, 180, 240, 145, 255, 255, 255, 255, 0, 0, 0, 0, 0};
+                hand.fingerMove(L20_POSE_CLOSE);
+                std::this_thread::sleep_for(std::chrono::seconds(1));
+                //---------------------------------------------------------
+                std::cout << "L20 - Execute action - Open hand" << std::endl;
+                std::vector<uint8_t> L20_POSE_OPEN = {255, 255, 230, 255, 255, 255, 10, 100, 180, 240, 245, 255, 255, 255, 255, 255, 255, 255, 255, 255};
+                hand.fingerMove(L20_POSE_OPEN);
+                std::this_thread::sleep_for(std::chrono::seconds(1));
+            }
+            else if (hand.handModel_ == LINKER_HAND::L25 || hand.handModel_ == LINKER_HAND::L21)
+            {
+                hand.setSpeed(std::vector<uint8_t>(25, HAND_SPEED));
+                hand.setTorque(std::vector<uint8_t>(25, HAND_TORQUE));
+                //---------------------------------------------------------
+
+                // Open hand
+                std::vector<uint8_t> pos1_1 = {230, 0, 0, 15, 5, 250, 55, 80, 210, 202, 85, 0, 0, 0, 0, 250, 0, 40, 35, 5, 250, 0, 5, 0, 0};
+                std::vector<uint8_t> pos1_2 = {80, 255, 255, 255, 255, 180, 51, 51, 72, 202, 202, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255};
+                std::vector<uint8_t> pos1_3 = {75, 255, 255, 255, 255, 176, 51, 80, 210, 202, 202, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255};
+                
+                // Make a fist
+                std::vector<uint8_t> pos2_1 = {230, 0, 0, 15, 5, 250, 55, 80, 210, 202, 85, 0, 0, 0, 0, 80, 0, 40, 35, 5, 250, 0, 5, 0, 0};
+                std::vector<uint8_t> pos2_2 = {230, 0, 0, 15, 5, 42, 55, 80, 210, 202, 85, 0, 0, 0, 0, 90, 0, 40, 35, 5, 120, 0, 5, 0, 0};
+
+                std::cout << "L25/L21 - Execute action - Make a fist" << std::endl;
+                hand.fingerMove(pos2_1);
+                std::this_thread::sleep_for(std::chrono::seconds(1));
+                hand.fingerMove(pos2_2);
+                std::this_thread::sleep_for(std::chrono::seconds(1));
+
+                std::cout << "L25/L21 - Execute action - Open hand" << std::endl;
+                hand.fingerMove(pos1_1);
+                std::this_thread::sleep_for(std::chrono::seconds(1));
+                // hand.fingerMove(pos1_2);
+                // std::this_thread::sleep_for(std::chrono::seconds(1));
+
+                hand.fingerMove(pos1_3);
+                std::this_thread::sleep_for(std::chrono::seconds(1));
+            }
+            break;
+        case 12:
+            hand.setSpeed(std::vector<uint8_t>(7, HAND_SPEED)); // L7 need 7 speed
+            hand.setTorque(std::vector<uint8_t>(7, HAND_TORQUE)); // L7 need 7 torque
+            //---------------------------------------------------------
+            
+            std::cout << "请输入" << 7 << "个整数：" << std::endl;
+            for (int i = 0; i < 7; ++i) {
+                std::cin >> arr[i];
+                pose.push_back(arr[i]);
+            }
+            
+            hand.fingerMove(pose);
+            std::this_thread::sleep_for(std::chrono::seconds(1));
+            break;
+        case 0:
+            exit();
+            break;
+        default:
+            std::cout << "Invalid option, please re-enter!\n";
+        }
+        if (choice != 1)
+            printNoColorLine();
+    }
+}
+
+int main()
+{
+    std::cout << YELLOW << "=========================\n" << RESET;
+    std::cout << YELLOW << "        Example\n" << RESET;
+    std::cout << YELLOW << "=========================\n" << RESET;
+    
+    int choice;
+    LINKER_HAND linkerhand;
+    while (true)
+    {
+        std::cout << GREEN << "\nRun Choose LinkerHand:\n" << RESET;
+        printColorLine1();
+        std::cout << BLUE << "[1]: L6/O6\n" << RESET;
+        printColorLine1();
+        std::cout << BLUE << "[2]: L7\n" << RESET;
+        printColorLine1();
+        std::cout << BLUE << "[3]: L10\n" << RESET;
+        printColorLine1();
+        std::cout << BLUE << "[4]: L20\n" << RESET;
+        printColorLine1();
+        std::cout << BLUE << "[5]: L21\n" << RESET;
+        printColorLine1();
+        std::cout << BLUE << "[6]: L25\n" << RESET;
+        printColorLine1();
+        std::cout << RED << "[0]: Exit\n" << RESET;
+        printColorLine1();
+        std::cout << GREEN << "Please enter options: " << RESET;
+        std::cin >> choice;
+        
+        switch (choice)
+        {
+        case 1:
+            linkerhand = LINKER_HAND::L6;
+            break;
+        case 2:
+            linkerhand = LINKER_HAND::L7;
+            break;
+        case 3:
+            linkerhand = LINKER_HAND::L10;
+            break;
+        case 4:
+            linkerhand = LINKER_HAND::L20;
+            break;
+        case 5:
+            linkerhand = LINKER_HAND::L21;
+            break;
+        case 6:
+            linkerhand = LINKER_HAND::L25;
+            break;
+        case 0:
+            exit();
+            break;
+        default:
+            std::cout << "Invalid option, please re-enter!\n";
+            continue;
+        }
+        break;
+    }
+
+    HAND_TYPE handType;
+    while (true)
+    {
+        printColorLine2();
+        std::cout << GREEN << "Run Choose Hand Direction:\n" << RESET;
+        printColorLine1();
+        std::cout << BLUE << "[1]: Left Hand\n" << RESET;
+        printColorLine1();
+        std::cout << BLUE << "[2]: Right Hand\n" << RESET;
+        printColorLine1();
+        std::cout << RED << "[0]: Exit\n" << RESET;
+        printColorLine1();
+        std::cout << GREEN << "Please enter options: " << RESET;
+        std::cin >> choice;
+
+        switch (choice)
+        {
+        case 1:
+            handType = HAND_TYPE::LEFT;
+            break;
+        case 2:
+            handType = HAND_TYPE::RIGHT;
+            break;
+        case 0:
+            exit();
+            break;
+        default:
+            std::cout << "Invalid option, please re-enter!\n";
+            continue;
+        }
+        break;
+    }
+    
+    while (true)
+    {
+        printColorLine2();
+        std::cout << GREEN << "Run Choose CANBus:\n" << RESET;
+        printColorLine1();
+        std::cout << BLUE << "[1]: CAN0\n" << RESET;
+        printColorLine1();
+        std::cout << BLUE << "[2]: CAN1\n" << RESET;
+        printColorLine1();
+        std::cout << BLUE << "[3]: EtherCAT\n" << RESET;
+        printColorLine1();
+        std::cout << RED << "[0]: Exit\n" << RESET;
+        printColorLine1();
+        std::cout << GREEN << "Please enter options: " << RESET;
+        std::cin >> choice;
+
+        switch (choice)
+        {
+        case 1:
+            channel = COMM_CAN_0;
+            break;
+        case 2:
+            channel = COMM_CAN_1;
+            break;
+        case 3:
+            channel = COMM_ETHERCAT;
+            break;
+        case 0:
+            exit();
+            break;
+        default:
+            std::cout << "Invalid option, please re-enter!\n";
+            continue;
+        }
+        break;
+    }
+
+    // 调用API接口
+    LinkerHandApi hand(linkerhand, handType, channel);
+    // LinkerHandApi hand(LINKER_HAND::L10, HAND_TYPE::RIGHT);
+
+    printNoColorLine();
+    // 启动交互模式
+    interactiveMode(hand);
+
+    return 0;
+}

include/CanBus.h

+#ifdef __linux__
+#ifndef LINKERHAND_CAN_BUS_H
+#define LINKERHAND_CAN_BUS_H
+
+#include <iostream>
+#include <iomanip>
+#include <sstream>
+#include <unistd.h>
+#include <chrono>
+#include <thread>
+#include <queue>
+#include <fcntl.h>
+#include <mutex>
+#include <atomic>
+#include <cstring>
+#include <cerrno>
+
+#include "Common.h"
+
+#include <sys/socket.h>
+#include <linux/can.h>
+#include <linux/can/raw.h>
+#include <net/if.h>  // 包含 ifreq 和 IFNAMSIZ
+#include <sys/ioctl.h>  // 包含 ioctl
+
+#include "ICanBus.h"
+
+namespace linkerhand {
+namespace communication {
+
+/**
+ * @brief Linux CAN 总线实现
+ */
+class CanBus : public linkerhand::communication::ICanBus
+    {
+    public:
+        CanBus(const std::string& interface, int bitrate, const LINKER_HAND linkerhand);
+        ~CanBus();
+        
+        void send(const std::vector<uint8_t>& data, uint32_t can_id, const bool wait = false) override;
+        CANFrame recv(uint32_t& id) override;
+        
+        void setReceiveTimeout(int seconds, int microseconds);
+        void updateSendRate();
+        void updateReceiveRate();
+        std::string printMillisecondTime();
+
+    private:
+        int socket_fd;
+        std::string interface;
+        int bitrate;
+        struct sockaddr_can addr;
+        struct ifreq ifr;  // 确保 ifreq 是完整的类型
+        std::mutex mutex_send; // 互斥锁
+        std::mutex mutex_send2; // 互斥锁
+        std::mutex mutex_receive; // 互斥锁
+
+        std::mutex send_mutex; // 用于保护发送计数器和时间
+        std::atomic<int> send_count; // 发送计数器
+        std::chrono::steady_clock::time_point last_time; // 上一次记录时间
+
+        std::mutex receive_mutex; // 用于保护发送计数器和时间
+        std::atomic<int> receive_count; // 发送计数器
+        std::chrono::steady_clock::time_point receive_last_time; // 上一次记录时间
+        std::queue<struct can_frame> send_queue; // 发送队列
+
+        LINKER_HAND linker_hand;
+    };
+} // namespace communication
+} // namespace linkerhand
+
+// 向后兼容：在全局命名空间中提供别名
+namespace Communication = linkerhand::communication;
+
+#endif
+#endif // LINKERHAND_CAN_BUS_H
+

include/CanBusFactory.h

+/*
+ * @Author: liangshaoteng liangshaoteng2012@163.com
+ * @Date: 2026-01-29 17:01:44
+ * @LastEditors: liangshaoteng liangshaoteng2012@163.com
+ * @LastEditTime: 2026-03-09 13:19:16
+ * @FilePath: /linkerhand/include/CanBusFactory.h
+ * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
+ */
+#ifndef LINKERHAND_CAN_BUS_FACTORY_H
+#define LINKERHAND_CAN_BUS_FACTORY_H
+
+#include "ICanBus.h"
+#include "CanBus.h"
+#include "PCANBus.h"
+#if USE_ETHERCAT
+#include "EtherCAT.h"
+#endif
+
+#include <stdexcept>
+
+namespace linkerhand {
+namespace communication {
+    class CanBusFactory
+    {
+    public:
+        static std::unique_ptr<ICanBus> createCanBus(
+            uint32_t handId,
+            const std::string& interfaceOrChannel,
+            int bitrate,
+            const LINKER_HAND linkerHand
+        )
+        {
+            (void)handId;  // 标记为未使用，避免警告
+
+            #ifdef _WIN32
+                // Windows 平台
+                TPCANHandle channel = PCAN_USBBUS1;
+                TPCANBaudrate baudrate = PCAN_BAUD_1M;
+                if (interfaceOrChannel == "can1") {
+                    channel = PCAN_USBBUS2;
+                }
+                return std::make_unique<linkerhand::communication::PCANBus>(channel, baudrate, linkerHand);
+
+            #else
+                return std::make_unique<linkerhand::communication::CanBus>(interfaceOrChannel, bitrate, linkerHand);
+
+                #if USE_ETHERCAT
+                else if (interfaceOrChannel == "ethercat") {
+                    return std::make_unique<linkerhand::communication::EtherCAT>(handId);
+                }
+                #endif
+
+                // 默认情况：抛出异常或返回 nullptr
+                throw std::runtime_error("Unsupported CAN interface: " + interfaceOrChannel);
+                // 或者返回 nullptr:
+                // return nullptr;
+
+            #endif
+        }
+    };
+} // namespace communication
+} // namespace linkerhand
+
+// 向后兼容：在全局命名空间中提供别名
+namespace Communication = linkerhand::communication;
+
+#endif // LINKERHAND_CAN_BUS_FACTORY_H

include/CanFrame.h

+#ifndef LINKERHAND_CAN_FRAME_H
+#define LINKERHAND_CAN_FRAME_H
+
+#include <iostream>
+#include <cstdint>
+#include <vector>
+
+#ifdef _WIN32
+#include "PCANBasic.h"
+using CanFrame = TPCANMsg;
+#elif defined(__linux__)
+#include <linux/can.h>
+#include <linux/can/raw.h>
+using CanFrame = struct can_frame;
+#elif defined(__APPLE__) && defined(__MACH__)
+std::cout << "This is macOS!" << std::endl;
+#else
+#error "Unsupported platform"
+#endif
+
+// 公共的 CAN 帧结构体
+struct CANFrame
+{
+    uint32_t can_id;        // CAN 帧 ID
+    uint8_t can_dlc;        // 数据长度
+    uint8_t data[8];    // 数据
+};
+
+
+#endif // LINKERHAND_CAN_FRAME_H
\ No newline at end of file

include/Common.h

+#ifndef LINKERHAND_COMMON_H
+#define LINKERHAND_COMMON_H
+
+// 为了与预编译库兼容，保持旧的枚举定义（非枚举类）
+enum LINKER_HAND {
+    O6,
+    L6,
+    L7,
+    L10,
+    L20,
+    L21,
+    L25
+};
+
+enum HAND_TYPE {
+    LEFT = 0x28,
+    RIGHT = 0x27
+};
+
+enum COMM_TYPE {
+    COMM_CAN_0,
+    COMM_CAN_1,
+    COMM_MODBUS,
+    COMM_ETHERCAT
+};
+
+namespace linkerhand {
+
+/**
+ * @brief 通用配置和版本信息
+ */
+namespace Common {
+    inline float current_hand_version = 1.0;
+}
+
+/**
+ * @brief 新的枚举类（用于未来版本，当前保持向后兼容）
+ * 
+ * 注意：当前库使用旧的枚举类型，这些枚举类用于未来版本
+ */
+enum class HandModel {
+    O6,
+    L6,
+    L7,
+    L10,
+    L20,
+    L21,
+    L25
+};
+
+enum class HandType {
+    LEFT = 0x28,
+    RIGHT = 0x27
+};
+
+enum class CommType {
+    CAN_0,
+    CAN_1,
+    MODBUS,
+    ETHERCAT
+};
+
+} // namespace linkerhand
+
+#define SEND_DEBUG 0
+#define RECV_DEBUG 0
+
+#endif // LINKERHAND_COMMON_H

include/ErrorCode.h

+#ifndef LINKERHAND_ERROR_CODE_H
+#define LINKERHAND_ERROR_CODE_H
+
+#include <system_error>
+#include <string>
+
+namespace linkerhand {
+
+/**
+ * @brief 错误码枚举
+ * 
+ * 定义 LinkerHand SDK 的所有错误类型
+ */
+enum class HandError {
+    Success = 0,                    ///< 成功
+    UnsupportedFeature,            ///< 不支持的功能
+    CommunicationError,            ///< 通信错误
+    InvalidParameter,              ///< 无效参数
+    DeviceNotFound,                ///< 设备未找到
+    Timeout,                       ///< 超时
+    InvalidState,                  ///< 无效状态
+    OperationFailed,               ///< 操作失败
+    NotInitialized,                ///< 未初始化
+    AlreadyInitialized,            ///< 已初始化
+    OutOfRange,                    ///< 超出范围
+    UnknownError                   ///< 未知错误
+};
+
+/**
+ * @brief 错误类别
+ * 
+ * 实现 std::error_category 接口，用于错误码分类
+ */
+class HandErrorCategory : public std::error_category {
+public:
+    const char* name() const noexcept override {
+        return "LinkerHand";
+    }
+
+    std::string message(int ev) const override {
+        switch (static_cast<HandError>(ev)) {
+            case HandError::Success:
+                return "Success";
+            case HandError::UnsupportedFeature:
+                return "Unsupported feature";
+            case HandError::CommunicationError:
+                return "Communication error";
+            case HandError::InvalidParameter:
+                return "Invalid parameter";
+            case HandError::DeviceNotFound:
+                return "Device not found";
+            case HandError::Timeout:
+                return "Timeout";
+            case HandError::InvalidState:
+                return "Invalid state";
+            case HandError::OperationFailed:
+                return "Operation failed";
+            case HandError::NotInitialized:
+                return "Not initialized";
+            case HandError::AlreadyInitialized:
+                return "Already initialized";
+            case HandError::OutOfRange:
+                return "Out of range";
+            case HandError::UnknownError:
+            default:
+                return "Unknown error";
+        }
+    }
+};
+
+/**
+ * @brief 获取错误类别实例
+ */
+inline const HandErrorCategory& hand_error_category() {
+    static HandErrorCategory instance;
+    return instance;
+}
+
+/**
+ * @brief 将 HandError 转换为 std::error_code
+ */
+inline std::error_code make_error_code(HandError e) {
+    return std::error_code(static_cast<int>(e), hand_error_category());
+}
+
+/**
+ * @brief 异常类：LinkerHand 异常基类
+ */
+class HandException : public std::runtime_error {
+public:
+    HandException(HandError error, const std::string& message)
+        : std::runtime_error(message), error_code_(error) {}
+
+    HandError error_code() const noexcept {
+        return error_code_;
+    }
+
+private:
+    HandError error_code_;
+};
+
+/**
+ * @brief 异常类：不支持的功能
+ */
+class UnsupportedFeatureException : public HandException {
+public:
+    explicit UnsupportedFeatureException(const std::string& feature_name)
+        : HandException(HandError::UnsupportedFeature,
+                       "Unsupported feature: " + feature_name),
+          feature_name_(feature_name) {}
+
+    const std::string& feature_name() const noexcept {
+        return feature_name_;
+    }
+
+private:
+    std::string feature_name_;
+};
+
+/**
+ * @brief 异常类：通信错误
+ */
+class CommunicationException : public HandException {
+public:
+    explicit CommunicationException(const std::string& message)
+        : HandException(HandError::CommunicationError, message) {}
+};
+
+/**
+ * @brief 异常类：无效参数
+ */
+class InvalidParameterException : public HandException {
+public:
+    explicit InvalidParameterException(const std::string& message)
+        : HandException(HandError::InvalidParameter, message) {}
+};
+
+} // namespace linkerhand
+
+// 注册错误码到标准库
+namespace std {
+    template<>
+    struct is_error_code_enum<linkerhand::HandError> : true_type {};
+}
+
+#endif // LINKERHAND_ERROR_CODE_H

include/EtherCAT.h

+#ifdef __linux__
+#ifndef LINKERHAND_ETHERCAT_H
+#define LINKERHAND_ETHERCAT_H
+
+#include <iostream>
+#include <unistd.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <string.h>
+#include <atomic>
+#include <chrono>
+#include <vector>
+#include <thread>
+#include <signal.h>
+#include <mutex>
+#include <ecrt.h>
+
+#include "Common.h"
+#include "ICanBus.h"
+
+// constexpr uint32_t PERIOD_US = 10000; // 10ms
+constexpr uint32_t PERIOD_US = 1000; // 10ms
+/* ------------- EtherCAT 常量 ------------- */
+constexpr unsigned int MASTER_INDEX = 0;
+constexpr uint32_t cycle_ns = 8000000; // 8ms 周期
+
+namespace linkerhand {
+namespace communication {
+
+/**
+ * @brief EtherCAT 通信实现
+ */
+class EtherCAT : public ICanBus {
+
+	public:
+		EtherCAT(const uint32_t handId);
+		~EtherCAT();
+
+		bool init();
+		void start();
+		void stop();
+		void send_can_data(const unsigned int id, const std::vector<uint8_t> &data);
+
+		void send(const std::vector<uint8_t>& data, uint32_t can_id, const bool wait = false) override;
+        CANFrame recv(uint32_t& id) override;
+        
+	private:
+		void configure_dc();
+		void register_pdo_entries();
+		void run_cycle();
+		void ec_write(const uint32_t can_id, const std::vector<uint8_t> &data);
+
+		/* ------------- PDO 条目 ------------- */
+		ec_pdo_entry_info_t slave_pdo_entries[12] = {
+		    // 主站 → 从站（RxPDO）
+		    {0x7000, 0x01, 16}, // Control_cmd
+		    {0x7000, 0x02, 32}, // Position_Target_1
+		    {0x7000, 0x03, 32}, // Velocity_Target_1
+		    {0x7000, 0x04, 32}, // Torque_Target_1
+		    {0x7000, 0x05, 32}, // KP_1
+		    {0x7000, 0x06, 32}, // KD_1
+		    // 从站 → 主站（TxPDO）
+		    {0x6000, 0x01, 16}, // MOTOR_NUM
+		    {0x6000, 0x02, 16}, // MOTOR_ID_1
+		    {0x6000, 0x03, 16}, // State_1
+		    {0x6000, 0x04, 32}, // Position_Actual_1
+		    {0x6000, 0x05, 32}, // Velocity_Actual_1
+		    {0x6000, 0x06, 32}, // Torque_Actual_1
+		};
+
+		ec_pdo_info_t slave_pdos[2] = {
+		    {0x1600, 6, slave_pdo_entries + 0},
+		    {0x1A00, 6, slave_pdo_entries + 6},
+		};
+
+		ec_sync_info_t slave_syncs[5] = {
+		    {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
+		    {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
+		    {2, EC_DIR_OUTPUT, 1, slave_pdos + 0, EC_WD_ENABLE},
+		    {3, EC_DIR_INPUT, 1, slave_pdos + 1, EC_WD_DISABLE},
+		    {0xff}};
+
+		/* ------------- PDO 偏移量 ------------- */
+		unsigned int offset_control_cmd = 0;
+		unsigned int offset_position_target = 0;
+		unsigned int offset_velocity_target = 0;
+		unsigned int offset_torque_target = 0;
+		unsigned int offset_kp = 0;
+		unsigned int offset_kd = 0;
+
+		unsigned int offset_motor_num = 0;
+		unsigned int offset_motor_id = 0;
+		unsigned int offset_state = 0;
+		unsigned int offset_position_actual = 0;
+		unsigned int offset_velocity_actual = 0;
+		unsigned int offset_torque_actual = 0;
+
+		/* ------------- EtherCAT 句柄 ------------- */
+		ec_master_t *master = nullptr;
+		ec_domain_t *domain = nullptr;
+		uint8_t *domain_pd = nullptr;
+
+		bool running = true;
+		uint16_t cmd = 0x04;
+
+		uint32_t can_id_;
+		std::vector<uint8_t> can_data;
+		
+		std::mutex mutex_send; // 互斥锁
+		
+		uint16_t slave_alias;
+		uint16_t slave_position;
+		uint32_t vendor_id;
+		uint32_t product_code;
+		
+		bool is_detection_hand;
+		uint32_t handId_;
+	};
+} // namespace communication
+} // namespace linkerhand
+
+// 向后兼容：在全局命名空间中提供别名
+namespace Communication = linkerhand::communication;
+
+#endif // LINKERHAND_ETHERCAT_H
+#endif

include/HandFactory.h

+#ifndef LINKERHAND_HAND_FACTORY_H
+#define LINKERHAND_HAND_FACTORY_H
+
+#include <iostream>
+#include <string>
+#include <algorithm>
+#include <cctype>
+
+#include "IHand.h"
+#include "LinkerHandL6.h"
+#include "LinkerHandL7.h"
+#include "LinkerHandL10.h"
+#include "LinkerHandL20.h"
+#include "LinkerHandL25.h"
+#include "ModbusLinkerHandL10.h"
+#include "Common.h"
+
+
+
+namespace linkerhand {
+namespace factory {
+
+/**
+ * @brief 手型号工厂类
+ * 
+ * 根据手型号、手类型和通信类型创建对应的手实例
+ */
+class HandFactory {
+public:
+    /**
+     * @brief 创建手实例
+     * @param type 手型号
+     * @param handId 手ID（左手/右手）
+     * @param commType 通信类型
+     * @return 手实例的智能指针
+     * @throws std::invalid_argument 如果参数无效
+     */
+    static std::unique_ptr<hand::IHand> createHand(LINKER_HAND type, uint32_t handId, COMM_TYPE commType) {
+
+        if (handId != static_cast<uint32_t>(LEFT) && 
+            handId != static_cast<uint32_t>(RIGHT))
+        {
+            throw std::invalid_argument("Unsupported hand type");
+        }
+
+        std::string canChannel;
+        int baudrate = 1000000;
+
+        switch (commType)
+        {
+        case COMM_CAN_0:
+            canChannel = "can0";
+            break;
+        case COMM_CAN_1:
+            canChannel = "can1";
+            break;
+        case COMM_MODBUS:
+            canChannel = "modbus";
+            break;
+        case COMM_ETHERCAT:
+            canChannel = "ethercat";
+            break;
+        default:
+            throw std::invalid_argument("Unknown comm type");
+            break;
+        }
+
+        if (canChannel == "can0" || canChannel == "can1" || canChannel == "ethercat") {
+            switch (type) {
+                case O6:
+                    return std::unique_ptr<hand::IHand>(std::make_unique<hand::L6Hand>(handId, canChannel, baudrate));
+                    break;
+                case L6:
+                    return std::unique_ptr<hand::IHand>(std::make_unique<hand::L6Hand>(handId, canChannel, baudrate));
+                    break;
+                case L7:
+                    return std::unique_ptr<hand::IHand>(std::make_unique<hand::L7Hand>(handId, canChannel, baudrate));
+                    break;
+                case L10:
+                    return std::unique_ptr<hand::IHand>(std::make_unique<hand::L10Hand>(handId, canChannel, baudrate));
+                    break;
+                case L20:
+                    return std::unique_ptr<hand::IHand>(std::make_unique<hand::L20Hand>(handId, canChannel, baudrate));
+                    break;
+                case L21:
+                    return std::unique_ptr<hand::IHand>(std::make_unique<hand::L25Hand>(handId, canChannel, baudrate, 1));
+                    break;
+                case L25:
+                    return std::unique_ptr<hand::IHand>(std::make_unique<hand::L25Hand>(handId, canChannel, baudrate, 0));
+                    break;
+                default:
+                    throw std::invalid_argument("Unknown hand type");
+            }
+        } else if (canChannel == "modbus") {
+        	#if USE_RMAN
+            switch (type) {
+                case L10:
+                    return std::unique_ptr<hand::IHand>(std::make_unique<hand::ModbusL10Hand>(handId));
+                default:
+                    throw std::invalid_argument("Unknown hand type");
+                    break;
+            }
+            #else
+            	throw std::runtime_error("ModBus support is disabled (USE_RMAN=0)");
+			#endif
+        }
+
+        return nullptr;
+    }
+    
+    
+    static std::unique_ptr<hand::IHand> createHand(LINKER_HAND type, uint32_t handId, const std::string canChannel, const int baudrate) {
+
+        if (handId != static_cast<uint32_t>(LEFT) && 
+            handId != static_cast<uint32_t>(RIGHT))
+        {
+            throw std::invalid_argument("Unsupported hand type");
+        }
+
+        if (containsIgnoreCase(canChannel, "can")) {
+            switch (type) {
+                case O6:
+                    return std::unique_ptr<hand::IHand>(std::make_unique<hand::L6Hand>(handId, canChannel, baudrate));
+                    break;
+                case L6:
+                    return std::unique_ptr<hand::IHand>(std::make_unique<hand::L6Hand>(handId, canChannel, baudrate));
+                    break;
+                case L7:
+                    return std::unique_ptr<hand::IHand>(std::make_unique<hand::L7Hand>(handId, canChannel, baudrate));
+                    break;
+                case L10:
+                    return std::unique_ptr<hand::IHand>(std::make_unique<hand::L10Hand>(handId, canChannel, baudrate));
+                    break;
+                case L20:
+                    return std::unique_ptr<hand::IHand>(std::make_unique<hand::L20Hand>(handId, canChannel, baudrate));
+                    break;
+                case L21:
+                    return std::unique_ptr<hand::IHand>(std::make_unique<hand::L25Hand>(handId, canChannel, baudrate, 1));
+                    break;
+                case L25:
+                    return std::unique_ptr<hand::IHand>(std::make_unique<hand::L25Hand>(handId, canChannel, baudrate, 0));
+                    break;
+                default:
+                    throw std::invalid_argument("Unknown hand type");
+            }
+        } else if (canChannel == "modbus") {
+        	#if USE_RMAN
+            switch (type) {
+                case L10:
+                    return std::unique_ptr<hand::IHand>(std::make_unique<hand::ModbusL10Hand>(handId));
+                default:
+                    throw std::invalid_argument("Unknown hand type");
+                    break;
+            }
+            #else
+            	throw std::runtime_error("ModBus support is disabled (USE_RMAN=0)");
+			#endif
+        }
+
+        return nullptr;
+    }
+    
+private:
+
+    static std::string toLower(const std::string& str) {
+        std::string result = str;
+        std::transform(result.begin(), result.end(), result.begin(), ::tolower);
+        return result;
+    }
+
+    static bool containsIgnoreCase(const std::string& str, const std::string& target) {
+        return toLower(str).find(toLower(target)) != std::string::npos;
+    }
+};
+
+} // namespace factory
+} // namespace linkerhand
+
+// 向后兼容：在全局命名空间中提供别名
+using HandFactory = linkerhand::factory::HandFactory;
+
+#endif // LINKERHAND_HAND_FACTORY_H

include/ICanBus.h

+#ifndef LINKERHAND_ICANBUS_H
+#define LINKERHAND_ICANBUS_H
+
+#include <vector>
+#include <cstdint>
+#include <string>
+#include "Common.h"
+#include "CanFrame.h"
+
+namespace linkerhand {
+namespace communication {
+
+/**
+ * @brief CAN 总线接口
+ * 
+ * 定义 CAN 总线通信的标准接口
+ */
+class ICanBus {
+public:
+    virtual ~ICanBus() = default;
+
+    /**
+     * @brief 发送 CAN 帧
+     * @param data 要发送的数据
+     * @param can_id CAN 帧 ID
+     * @param wait 是否等待发送完成（默认 false）
+     */
+    virtual void send(const std::vector<uint8_t>& data, uint32_t can_id, 
+                     const bool wait = false) = 0;
+    
+    /**
+     * @brief 接收 CAN 帧
+     * @param id CAN 帧 ID（输出参数）
+     * @return 接收到的 CAN 帧
+     */
+    virtual CANFrame recv(uint32_t& id) = 0;
+};
+
+} // namespace communication
+} // namespace linkerhand
+
+// 向后兼容的别名
+namespace Communication = linkerhand::communication;
+
+#endif // LINKERHAND_ICANBUS_H

include/ICommunication.h

+#ifndef LINKERHAND_ICOMMUNICATION_H
+#define LINKERHAND_ICOMMUNICATION_H
+
+#include <vector>
+#include <cstdint>
+
+namespace linkerhand {
+namespace communication {
+
+/**
+ * @brief 通信接口基类
+ * 
+ * 定义通用的通信接口，支持 ModBus 等协议
+ */
+class ICommunication {
+public:
+    virtual ~ICommunication() = default;
+    
+    /**
+     * @brief 发送数据
+     * @param data 要发送的数据
+     * @param id 设备ID（输入输出参数）
+     * @param start_address 起始地址（默认0）
+     * @param num 数量（默认0）
+     */
+    virtual void send(const std::vector<uint8_t>& data, uint32_t &id, 
+                     const int &start_address = 0, const int &num = 0) = 0;
+    
+    /**
+     * @brief 接收数据
+     * @param id 设备ID（输入输出参数）
+     * @param start_address 起始地址（默认0）
+     * @param num 数量（默认0）
+     * @return 接收到的数据
+     */
+    virtual std::vector<uint8_t> recv(uint32_t& id, 
+                                    const int &start_address = 0, 
+                                    const int &num = 0) = 0;
+};
+
+} // namespace communication
+} // namespace linkerhand
+
+#endif // LINKERHAND_ICOMMUNICATION_H
\ No newline at end of file

include/IHand.h

+#ifndef LINKERHAND_IHAND_H
+#define LINKERHAND_IHAND_H
+
+#include <set>
+#include <vector>
+#include <string>
+#include <iostream>
+#include <iomanip>
+#include <sstream>
+#include <chrono>
+#include <stdexcept>
+
+#include "RangeToArc.h"
+#include "Common.h"
+#include "ErrorCode.h"
+
+namespace linkerhand {
+namespace hand {
+
+/**
+ * @brief 灵巧手接口基类
+ * 
+ * 定义所有手型号必须实现的基础接口
+ * 注意：不支持的方法会抛出异常而不是返回空值
+ */
+class IHand
+{
+public:
+    virtual ~IHand() = default;
+    // 设置关节位置
+    virtual void setJointPositions(const std::vector<uint8_t> &jointAngles) = 0;
+    virtual void setJointPositionArc(const std::vector<double> &jointAngles)
+    {
+        (void) jointAngles;
+        throw UnsupportedFeatureException("setJointPositionArc");
+    }
+    // 获取速度数据
+    virtual std::vector<uint8_t> getSpeed()
+    {
+        throw UnsupportedFeatureException("getSpeed");
+    }
+    // 设置关节速度
+    virtual void setSpeed(const std::vector<uint8_t> &speed)
+    {
+        (void) speed;
+        throw UnsupportedFeatureException("setSpeed");
+    }
+    // 获取当前关节位置
+    virtual std::vector<uint8_t> getCurrentStatus()
+    {
+        throw UnsupportedFeatureException("getCurrentStatus");
+    }
+
+    virtual std::vector<double> getCurrentStatusArc()
+    {
+        throw UnsupportedFeatureException("getCurrentStatusArc");
+    }
+    // 获取电机故障码
+    virtual std::vector<uint8_t> getFaultCode()
+    {
+        throw UnsupportedFeatureException("getFaultCode");
+    }
+    // 获取电机电流
+    virtual std::vector<uint8_t> getCurrent()
+    {
+        throw UnsupportedFeatureException("getCurrent");
+    }
+    // ------------------------------------------------------
+    // 获取压感数据
+    virtual std::vector<std::vector<uint8_t>> getForce(const int type)
+    {
+        (void)type;
+        throw UnsupportedFeatureException("getForce");
+    }
+    virtual std::vector<std::vector<std::vector<uint8_t>>> getForce() 
+    {
+        throw UnsupportedFeatureException("getForce");
+    }
+    // 获取大拇指压感数据
+    virtual std::vector<uint8_t> getThumbForce()
+    {
+        throw UnsupportedFeatureException("getThumbForce");
+    }
+    // 获取食指压感数据
+    virtual std::vector<uint8_t> getIndexForce()
+    {
+        throw UnsupportedFeatureException("getIndexForce");
+    }
+    // 获取中指压感数据
+    virtual std::vector<uint8_t> getMiddleForce()
+    {
+        throw UnsupportedFeatureException("getMiddleForce");
+    }
+    // 获取无名指压感数据
+    virtual std::vector<uint8_t> getRingForce()
+    {
+        throw UnsupportedFeatureException("getRingForce");
+    }
+    // 获取小拇指压感数据
+    virtual std::vector<uint8_t> getLittleForce()
+    {
+        throw UnsupportedFeatureException("getLittleForce");
+    }
+    // ------------------------------------------------------
+    // 获取五指法向力
+    virtual std::vector<uint8_t> getNormalForce()
+    {
+        throw UnsupportedFeatureException("getNormalForce");
+    }
+    // 获取五指切向力
+    virtual std::vector<uint8_t> getTangentialForce()
+    {
+        throw UnsupportedFeatureException("getTangentialForce");
+    }
+    // 获取五指法向力方向
+    virtual std::vector<uint8_t> getTangentialForceDir()
+    {
+        throw UnsupportedFeatureException("getTangentialForceDir");
+    }
+    // 获取五指接近感应
+    virtual std::vector<uint8_t> getApproachInc()
+    {
+        throw UnsupportedFeatureException("getApproachInc");
+    }
+    // ------------------------------------------------------
+    // 设置扭矩 L20暂不支持
+    virtual void setTorque(const std::vector<uint8_t> &torque)
+    {
+        (void)torque;
+        throw UnsupportedFeatureException("setTorque");
+    }
+    // 获取电机扭矩 L20暂不支持
+    virtual std::vector<uint8_t> getTorque()
+    {
+        throw UnsupportedFeatureException("getTorque");
+    }
+    // 获取电机温度 L20暂不支持
+    virtual std::vector<uint8_t> getTemperature()
+    {
+        throw UnsupportedFeatureException("getTemperature");
+    }
+    // 获取版本号   目前仅支持L10
+    virtual std::string getVersion()
+    {
+        throw UnsupportedFeatureException("getVersion");
+    }
+    // 获取设备ID L20协议
+    virtual std::vector<uint8_t> getUID()
+    {
+        throw UnsupportedFeatureException("getUID");
+    }
+    // 手指堵转或过流判断计数阀值 L20协议
+    virtual std::vector<uint8_t> getRotorLockCount()
+    {
+        throw UnsupportedFeatureException("getRotorLockCount");
+    }
+    // 清除电机故障码 目前仅支持L20
+	virtual void clearFaultCode(const std::vector<uint8_t> &code)
+    {
+        (void)code;
+        throw UnsupportedFeatureException("clearFaultCode");
+    }
+    // 设置电流 目前仅支持L20 
+	virtual void setCurrent(const std::vector<uint8_t> &current)
+    {
+        (void)current;
+        throw UnsupportedFeatureException("setCurrent");
+    }
+	// 设置电机使能 目前仅支持L25
+	virtual void setMotorEnable(const std::vector<uint8_t> &enable)
+    {
+        (void)enable;
+        throw UnsupportedFeatureException("setMotorEnable");
+    }
+	// 设置电机使能 目前仅支持L25
+	virtual void setMotorDisable(const std::vector<uint8_t> &disable)
+    {
+        (void)disable;
+        throw UnsupportedFeatureException("setMotorDisable");
+    }
+
+    // ---------------------------------------------------------------------
+
+    virtual std::vector<uint8_t> getSubVector(const std::vector<uint8_t> &vec)
+    {
+        std::vector<uint8_t> result;
+        if (vec.size() > 1) result.insert(result.end(), vec.begin() + 1, vec.end());
+        return result;
+    }
+
+    virtual std::vector<uint8_t> getSubVector(const std::vector<uint8_t>& vec1, const std::vector<uint8_t>& vec2)
+    {
+        std::vector<uint8_t> result;
+        if (vec1.size() > 1) result.insert(result.end(), vec1.begin() + 1, vec1.end());
+        if (vec2.size() > 1) result.insert(result.end(), vec2.begin() + 1, vec2.end());
+        return result;
+    }
+
+    virtual std::string getCurrentTime()
+    {
+        // 获取当前时间点
+        auto now = std::chrono::high_resolution_clock::now();
+    
+        // 使用std::put_time格式化时间点为字符串
+        std::time_t time = std::chrono::system_clock::to_time_t(now);
+        std::stringstream ss;
+        ss << std::put_time(std::localtime(&time), "%Y-%m-%d %H:%M:%S");
+    
+        // 获取微秒部分并添加到字符串中
+        auto duration = now.time_since_epoch();
+        auto microseconds = std::chrono::duration_cast<std::chrono::microseconds>(duration % std::chrono::seconds(1)).count();
+        // 只保留毫秒部分
+        int milliseconds = microseconds / 1000;
+        ss << "." << std::setfill('0') << std::setw(3) << milliseconds;
+        // 微妙
+        // ss << "." << std::setfill('0') << std::setw(6) << microseconds;
+
+        // 打印格式化的时间字符串
+        // std::cout << "send time: " << ss.str() << std::endl;
+
+        return ss.str();
+    }
+
+};
+
+} // namespace hand
+} // namespace linkerhand
+
+#endif // LINKERHAND_IHAND_H
+

include/LinkerHandApi.h

+#ifndef LINKERHAND_API_H
+#define LINKERHAND_API_H
+
+#include <iostream>
+#include <vector>
+#include <memory>
+#include <string>
+#include "HandFactory.h"
+#include "Common.h"
+#include "IHand.h"
+
+/**
+ * @brief LinkerHand API 主类
+ * 
+ * 提供统一的接口用于控制各种型号的灵巧手设备
+ * 
+ * 注意：为了与预编译库兼容，此类保持在全局命名空间
+ */
+class LinkerHandApi
+{
+public:
+	/**
+	 * @brief 构造函数
+	 * @param handModel 手型号（LINKER_HAND 枚举）
+	 * @param handType 手类型（左手/右手）
+	 * @param commType 通信类型（默认 CAN_0）
+	 */
+	LinkerHandApi(const LINKER_HAND &handModel, const HAND_TYPE &handType,
+	              const COMM_TYPE commType = COMM_CAN_0);
+	LinkerHandApi(const LINKER_HAND &handModel, const HAND_TYPE &handType,
+	             const std::string canChannel, const int baudrate);
+	~LinkerHandApi();
+
+	// 设置关节位置
+	void fingerMove(const std::vector<uint8_t> &pose);
+	void fingerMoveArc(const std::vector<double> &pose);
+	// 设置速度
+	void setSpeed(const std::vector<uint8_t> &speed);
+	// 设置扭矩
+	void setTorque(const std::vector<uint8_t> &torque);
+	// 获取压感
+	std::vector<std::vector<std::vector<uint8_t>>> getForce();
+	// 获取速度
+	std::vector<uint8_t> getSpeed();
+	// 获取当前关节状态
+	std::vector<uint8_t> getState();
+	std::vector<double> getStateArc();
+	// 获取版本号
+	std::string getVersion();
+
+	// ----------------------------------------------------------
+
+	// 获取电机温度
+	std::vector<uint8_t> getTemperature();
+	// 获取电机故障码
+	std::vector<uint8_t> getFaultCode();
+	// 获取当前电流
+	std::vector<uint8_t> getCurrent();
+	// 获取当前最大扭矩
+	std::vector<uint8_t> getTorque();
+	// ------------------------- 待开发 --------------------------
+	// 设置电流 目前仅支持L20 
+	void setCurrent(const std::vector<uint8_t> &current);
+	// 清除电机故障码 目前仅支持L20
+	void clearFaultCode(const std::vector<uint8_t> &torque = std::vector<uint8_t>(5, 1));
+	// 设置电机使能 目前仅支持L25
+	void setEnable(const std::vector<uint8_t> &enable = std::vector<uint8_t>(5, 0));
+	// 设置电机使能 目前仅支持L25
+	void setDisable(const std::vector<uint8_t> &disable = std::vector<uint8_t>(5, 1));
+
+private:
+	// 获取法向压力
+	void getNormalForce();
+	// 获取切向压力
+	void getTangentialForce();
+	// 获取切向压力方向
+	void getTangentialForceDir();
+	// 获取接近感应
+	void getApproachInc();
+
+private:
+	std::unique_ptr<linkerhand::hand::IHand> hand;
+	uint32_t handId;
+public:
+	LINKER_HAND handModel_;  // 手型号（L6, L7, L10, L20, L21, L25 等）
+	HAND_TYPE handType_;
+};
+
+// 在新命名空间中提供类型别名（用于未来版本）
+namespace linkerhand {
+namespace api {
+    using LinkerHandApi = ::LinkerHandApi;
+} // namespace api
+} // namespace linkerhand
+
+#endif // LINKERHAND_API_H

include/LinkerHandL10.h

+#ifndef LINKERHAND_L10_H
+#define LINKERHAND_L10_H
+
+#include <thread>
+#include <mutex>
+#include <queue>
+#include <iostream>
+#include <sstream>
+#include <chrono>
+#include <condition_variable>
+
+#include "IHand.h"
+#include "CanBusFactory.h"
+
+namespace linkerhand {
+namespace hand {
+
+// L10 型号的帧属性枚举
+enum class L10FrameProperty
+{									  
+	// INVALID_FRAME_PROPERTY = 0x00,	// 无效的can帧属性
+    JOINT_POSITION_RCO = 0x01,			// 关节1-6的关节位置
+    TORQUE_LIMIT = 0x02,				// 五根手指的转矩限制
+    TORQUE_LIMIT_2 = 0x03,				// 五根手指的转矩限制2
+    JOINT_POSITION2_RCO = 0x04,			// 关节7-10的关节位置
+    JOINT_SPEED = 0x05,					// 五根手指的速度
+    JOINT_SPEED_2 = 0x06,				// 五根手指的速度2
+    REQUEST_DATA_RETURN = 0x09,			// 获取所有关节位置和压力
+    // JOINT_POSITION_N = 0x11,
+    // MAX_PRESS_N = 0x12,
+    HAND_NORMAL_FORCE = 0X20,			// 五个手指的法向压力
+    HAND_TANGENTIAL_FORCE = 0X21,		// 五个手指的切向压力
+    HAND_TANGENTIAL_FORCE_DIR = 0X22,	// 五个手指的切向方向
+    HAND_APPROACH_INC = 0X23,			// 五个手指指接近感应
+	THUMB_ALL_DATA = 0x28,              // 大拇指所有数据 | 返回 1法向压力 2切向压力 3切向方向 4接近感应
+    INDEX_FINGER_ALL_DATA = 0x29,       // 食指所有数据 | 返回 1法向压力 2切向压力 3切向方向 4接近感应
+    MIDDLE_FINGER_ALL_DATA = 0x30,      // 中指所有数据 | 返回 1法向压力 2切向压力 3切向方向 4接近感应
+    RING_FINGER_ALL_DATA = 0x31,        // 无名指所有数据 | 返回 1法向压力 2切向压力 3切向方向 4接近感应
+    LITTLE_FINGER_ALL_DATA = 0x32,      // 小拇指所有数据 | 返回 1法向压力 2切向压力 3切向方向 4接近感应
+	MOTOR_TEMPERATURE_1 = 0x33,			// 电机温度1
+    MOTOR_TEMPERATURE_2 = 0x34,			// 电机温度2
+	MOTOR_FAULT_CODE_1 = 0x35,			// 电机故障码1
+	MOTOR_FAULT_CODE_2 = 0x36,			// 电机故障码2
+	LINKER_HAND_VERSION = 0X64,			// 版本号
+
+    // 新压感
+    TOUCH_SENSOR_TYPE = 0xB0,	// 触觉传感器类型
+    THUMB_TOUCH = 0xB1,	// 大拇指触觉传感
+    INDEX_TOUCH = 0xB2,	// 食指触觉传感
+    MIDDLE_TOUCH = 0xB3, //	中指触觉传感
+    RING_TOUCH = 0xB4, // 无名指触觉传感
+    LITTLE_TOUCH = 0xB5, //	小拇指触觉传感
+    PALM_TOUCH = 0xB6, // 手掌指触觉传感
+};
+
+/**
+ * @brief L10 型号灵巧手实现类
+ *
+ * 提供 L10 型号的所有功能实现
+ */
+class L10Hand : public IHand
+{
+public:
+    L10Hand(uint32_t handId, const std::string &canChannel, int baudrate);
+    ~L10Hand();
+
+	// 设置关节位置
+    void setJointPositions(const std::vector<uint8_t> &jointAngles) override;
+    void setJointPositionArc(const std::vector<double> &jointAngles) override;
+	// 设置最大扭矩
+	void setTorque(const std::vector<uint8_t> &torque) override;
+	// 设置关节速度
+    void setSpeed(const std::vector<uint8_t> &speed) override;
+	// 获取当前速度
+    std::vector<uint8_t> getSpeed() override;
+	// 获取当前关节状态
+    std::vector<uint8_t> getCurrentStatus() override;
+    std::vector<double> getCurrentStatusArc() override;
+	//--------------------------------------------------------------------
+	// 获取所有压感数据
+    std::vector<std::vector<std::vector<uint8_t>>> getForce() override;
+	// 获取五个手指的法向压力
+    std::vector<uint8_t> getNormalForce() override;
+	// 获取五个手指的切向压力
+    std::vector<uint8_t> getTangentialForce() override;
+	// 获取五个手指的切向方向
+    std::vector<uint8_t> getTangentialForceDir() override;
+	// 获取五个手指指接近感应
+    std::vector<uint8_t> getApproachInc() override;
+	//--------------------------------------------------------------------
+	// 获取版本信息
+    std::string getVersion() override;
+	// 获取电机温度
+    std::vector<uint8_t> getTemperature() override;
+	// 获取电机故障码
+    std::vector<uint8_t> getFaultCode() override;
+	// 获取电机电流
+    std::vector<uint8_t> getCurrent() override;	// 暂时无用
+	// 获取所有关节位置和压力
+    std::vector<uint8_t> requestAllStatus(); // 暂时无用
+	// 获取当前扭矩
+	std::vector<uint8_t> getTorque() override;
+
+private:
+    uint32_t handId;
+    std::unique_ptr<Communication::ICanBus> bus;
+    std::thread receiveThread;
+    bool running;
+    std::mutex responseMutex;
+
+    void receiveResponse();
+
+    std::queue<std::vector<uint8_t>> responseQueue; // 通用响应队列
+    std::condition_variable queueCond;              // 通用队列条件变量
+    std::mutex queueMutex;                          // 通用队列互斥锁
+
+    // 队列和条件变量
+	std::vector<uint8_t> joint_position;
+	std::vector<uint8_t> joint_position2;
+	std::vector<uint8_t> joint_speed;
+    std::vector<uint8_t> joint_speed_2;
+
+	std::vector<uint8_t> normal_force;
+    std::vector<uint8_t> tangential_force;
+    std::vector<uint8_t> tangential_force_dir;
+    std::vector<uint8_t> approach_inc;
+
+	std::vector<uint8_t> thumb_pressure;
+    std::vector<uint8_t> index_finger_pressure;
+    std::vector<uint8_t> middle_finger_pressure;
+    std::vector<uint8_t> ring_finger_pressure;
+    std::vector<uint8_t> little_finger_pressure;
+
+    std::vector<std::vector<std::vector<uint8_t>>> touch_mats;
+
+	// 最大扭矩
+    std::vector<uint8_t> max_torque;
+    std::vector<uint8_t> max_torque_2;
+
+	// 电机温度
+    std::vector<uint8_t> motorTemperature_1;
+	std::vector<uint8_t> motorTemperature_2;
+	
+	// 电机故障码
+    std::vector<uint8_t> motorFaultCode_1;
+	std::vector<uint8_t> motorFaultCode_2;
+
+	// 版本信息
+	std::vector<uint8_t> version;
+
+    uint8_t sensor_type = 0;
+};
+
+} // namespace hand
+} // namespace linkerhand
+
+// 向后兼容：在旧命名空间中提供别名
+namespace LinkerHandL10 {
+    using FRAME_PROPERTY = linkerhand::hand::L10FrameProperty;
+    using LinkerHand = linkerhand::hand::L10Hand;
+} // namespace LinkerHandL10
+
+#endif // LINKERHAND_L10_H
\ No newline at end of file

include/LinkerHandL20.h

+#ifndef LINKERHAND_L20_H
+#define LINKERHAND_L20_H
+
+#include <thread>
+#include <mutex>
+#include <queue>
+#include <iostream>
+#include <sstream>
+#include <condition_variable>
+
+#include "IHand.h"
+#include "CanBusFactory.h"
+
+namespace linkerhand {
+namespace hand {
+
+// L20 型号的帧属性枚举
+enum class L20FrameProperty
+{									  
+    INVALID_FRAME_PROPERTY = 0x00,  // 无效的can帧属性 | 无返回
+    JOINT_PITCH_R = 0x01,           // 短帧俯仰角-手指根部弯曲程度 | 返回本类型数据
+    JOINT_YAW_R = 0x02,             // 短帧航向角-手指横摆，控制间隙 | 返回本类型数据
+    JOINT_ROLL_R = 0x03,            // 短帧横滚角-只有大拇指副用到了 | 返回本类型数据
+    JOINT_TIP_R = 0x04,             // 短帧指尖角度弯曲程度 | 返回本类型数据
+    JOINT_SPEED_R = 0x05,           // 短帧速度 电机运行速度控制 | 返回本类型数据
+    JOINT_CURRENT_R = 0x06,         // 短帧电流 电机运行电流 | 返回本类型数据
+    JOINT_FAULT_R = 0x07,           // 短帧故障 电机运行故障 1清除 0查询 | 返回本类型数据
+    ROTOR_LOCK_COUNT = 0x08,        // 手指堵转或过流判断计数阀值 | 返回本类型数据
+    REQUEST_DATA_RETURN = 0x09,      // 请求数据返回 | 返回所有手指控制数据，返回数据会分若干帧发出。
+    
+    JOINT_PITCH_NR = 0x11,           // 俯仰角-手指根部弯曲 | 不返回本类型数据
+    JOINT_YAW_NR = 0x12,             // 航向角-手指横摆，控制间隙 | 不返回本类型数据
+    JOINT_ROLL_NR = 0x13,            // 横滚角-只有大拇指副用到了 | 不返回本类型数据
+    JOINT_TIP_NR = 0x14,             // 指尖角度控制 | 不返回本类型数据
+    JOINT_SPEED_NR = 0x15,           // 速度 电机运行速度控制 | 不返回本类型数据
+    JOINT_CURRENT_NR = 0x16,         // 电流 电机运行电流反馈 | 不返回本类型数据
+    JOINT_FAULT_NR = 0x17,           // 故障 电机运行故障反馈 | 不返回本类型数据
+    HAND_NORMAL_FORCE = 0X20,			// 返回五个手指的法向压力
+    HAND_TANGENTIAL_FORCE = 0X21,		// 返回五个手指的切向压力
+    HAND_TANGENTIAL_FORCE_DIR = 0X22,	// 返回五个手指的切向方向 数值0-127对应实际切向力角度0-359,无切向力保持255
+    HAND_APPROACH_INC = 0X23,			// 返回五个手指指接近感应
+
+    THUMB_ALL_DATA = 0x30,              // 大拇指所有数据 | 返回 1法向压力 2切向压力 3切向方向 4接近感应
+    INDEX_FINGER_ALL_DATA = 0x31,       // 食指所有数据 | 返回 1法向压力 2切向压力 3切向方向 4接近感应
+    MIDDLE_FINGER_ALL_DATA = 0x32,      // 中指所有数据 | 返回 1法向压力 2切向压力 3切向方向 4接近感应
+    RING_FINGER_ALL_DATA = 0x33,        // 无名指所有数据 | 返回 1法向压力 2切向压力 3切向方向 4接近感应
+    LITTLE_FINGER_ALL_DATA = 0x34,      // 小拇指所有数据 | 返回 1法向压力 2切向压力 3切向方向 4接近感应
+    
+    HAND_UID = 0xC0,                 // 设备唯一标识码 只读 --------
+    HAND_HARDWARE_VERSION = 0xC1,    // 硬件版本 只读 --------
+    HAND_SOFTWARE_VERSION = 0xC2,    // 软件版本 只读 --------
+    HAND_COMM_ID = 0xC3,             // 设备ID 可读写 1字节 
+    HAND_SAVE_PARAMETER = 0xCF,       // 保存参数 只写 --------
+
+    // 新压感
+    TOUCH_SENSOR_TYPE = 0xB0,	// 触觉传感器类型
+    THUMB_TOUCH = 0xB1,	// 大拇指触觉传感
+    INDEX_TOUCH = 0xB2,	// 食指触觉传感
+    MIDDLE_TOUCH = 0xB3, //	中指触觉传感
+    RING_TOUCH = 0xB4, // 无名指触觉传感
+    LITTLE_TOUCH = 0xB5, //	小拇指触觉传感
+    PALM_TOUCH = 0xB6 // 手掌指触觉传感
+};
+
+/**
+ * @brief L20 型号灵巧手实现类
+ *
+ * 提供 L20 型号的所有功能实现
+ */
+class L20Hand : public IHand {
+public:
+    L20Hand(uint32_t handId, const std::string& canChannel, int baudrate);
+    ~L20Hand();
+
+    // 设置关节位置
+    void setJointPositions(const std::vector<uint8_t> &jointAngles) override;
+    void setJointPositionArc(const std::vector<double> &jointAngles) override;
+	// 设置关节速度
+    void setSpeed(const std::vector<uint8_t> &speed) override;
+	// 获取当前速度
+    std::vector<uint8_t> getSpeed() override;
+	// 获取当前关节状态
+    std::vector<uint8_t> getCurrentStatus() override;
+    std::vector<double> getCurrentStatusArc() override;
+	//--------------------------------------------------------------------
+	// 获取所有压感数据
+    std::vector<std::vector<std::vector<uint8_t>>> getForce() override;
+    // 获取五个手指的法向压力
+    std::vector<uint8_t> getNormalForce() override;
+	// 获取五个手指的切向压力
+    std::vector<uint8_t> getTangentialForce() override;
+	// 获取五个手指的切向方向
+    std::vector<uint8_t> getTangentialForceDir() override;
+	// 获取五个手指指接近感应
+    std::vector<uint8_t> getApproachInc() override;
+    #if 0
+	// 获取大拇指压感数据
+    std::vector<uint8_t> getThumbForce() override;
+    // 获取食指压感数据
+    std::vector<uint8_t> getIndexForce() override;
+    // 获取中指压感数据
+    std::vector<uint8_t> getMiddleForce() override;
+    // 获取无名指压感数据
+    std::vector<uint8_t> getRingForce() override;
+    // 获取小拇指压感数据
+    std::vector<uint8_t> getLittleForce() override;
+    #endif
+    //--------------------------------------------------------------------
+    // 获取电机故障码
+    std::vector<uint8_t> getFaultCode() override;
+    // 获取电机电流
+    std::vector<uint8_t> getCurrent() override;
+    // 清除电机故障码
+    void clearFaultCode(const std::vector<uint8_t> &code = std::vector<uint8_t>(5, 1)) override;
+    // 设置电流
+    void setCurrent(const std::vector<uint8_t> &current) override;
+    // 获取版本号
+    std::string getVersion() override;
+    // 获取设备唯一标志
+    std::vector<uint8_t> getUID() override;
+    // 获取堵转计数
+    std::vector<uint8_t> getRotorLockCount() override;
+
+private:
+    uint32_t handId;
+    std::unique_ptr<Communication::ICanBus> bus;
+    std::thread receiveThread;
+    bool running;
+    std::mutex responseMutex;
+
+    void receiveResponse();
+
+    // 故障码
+    std::vector<uint8_t> motor_fault_code;
+    // 电流
+    std::vector<uint8_t> motor_current;
+    // 速度
+    std::vector<uint8_t> motor_speed;
+
+    // 压感数据
+    std::vector<std::vector<uint8_t>> force_data;
+
+    std::vector<uint8_t> normal_force;
+    std::vector<uint8_t> tangential_force;
+    std::vector<uint8_t> tangential_force_dir;
+    std::vector<uint8_t> approach_inc;
+
+    std::vector<uint8_t> thumb_pressure;
+    std::vector<uint8_t> index_finger_pressure;
+    std::vector<uint8_t> middle_finger_pressure;
+    std::vector<uint8_t> ring_finger_pressure;
+    std::vector<uint8_t> little_finger_pressure;
+
+    std::vector<std::vector<std::vector<uint8_t>>> touch_mats;
+    
+    // 关节位置
+    std::vector<uint8_t> joint_position1;
+	std::vector<uint8_t> joint_position2;
+    std::vector<uint8_t> joint_position3;
+    std::vector<uint8_t> joint_position4;
+
+    // 版本号
+    std::vector<uint8_t> hand_hardware_version;
+    std::vector<uint8_t> hand_software_version;
+    // 设备ID
+    std::vector<uint8_t> hand_comm_id;
+
+    // 设备唯一标志
+    std::vector<uint8_t> hand_uid;
+
+    // 堵转计数
+    std::vector<uint8_t> rotor_lock_count;
+
+    uint8_t sensor_type = 0;
+};
+
+} // namespace hand
+} // namespace linkerhand
+
+// 向后兼容：在旧命名空间中提供别名
+namespace LinkerHandL20 {
+    using FRAME_PROPERTY = linkerhand::hand::L20FrameProperty;
+    using LinkerHand = linkerhand::hand::L20Hand;
+} // namespace LinkerHandL20
+
+#endif // LINKERHAND_L20_H
\ No newline at end of file

include/LinkerHandL25.h

+#ifndef LINKERHAND_L25_H
+#define LINKERHAND_L25_H
+
+#include <thread>
+#include <mutex>
+#include <queue>
+#include <iostream>
+#include <sstream>
+#include <condition_variable>
+#include <map>
+#include <numeric>
+#include "IHand.h"
+#include "CanBusFactory.h"
+
+namespace linkerhand {
+namespace hand {
+
+// L25/L21 型号的帧属性枚举
+enum class L25FrameProperty
+{									  
+    INVALID_FRAME_PROPERTY = 0x00, // 无效的can帧属性 | 无返回
+    // 并行指令区域
+    ROLL_POS = 0x01, // 横滚关节位置 | 坐标系建在每个手指的指根部位，按手指伸直的状态去定义旋转角度 [10,11,12,13,14]
+    YAW_POS = 0x02, // 航向关节位置 | 坐标系建在每个手指的指根部位，按手指伸直的状态去定义旋转角度 [5,6,7,8,9]
+    ROOT1_POS = 0x03, // 指根1关节位置 | 最接近手掌的指根关节 [0,1,2,3,4]
+    ROOT2_POS = 0x04, // 指根2关节位置 | 最接近手掌的指根关节  [15, 16,17,18,19]
+    ROOT3_POS = 0x05, // 指根3关节位置 | 最接近手掌的指根关节 暂无
+    TIP_POS = 0x06, // 指尖关节位置 | 最接近手掌的指根关节 [20,21,22,23,24]
+    
+    ROLL_SPEED = 0x09, // 横滚关节速度 | 坐标系建在每个手指的指根部位，按手指伸直的状态去定义旋转角度
+    YAW_SPEED = 0x0A, // 航向关节速度 | 坐标系建在每个手指的指根部位，按手指伸直的状态去定义旋转角度
+    ROOT1_SPEED = 0x0B, // 指根1关节速度 | 最接近手掌的指根关节
+    ROOT2_SPEED = 0x0C, // 指根2关节速度 | 最接近手掌的指根关节
+    ROOT3_SPEED = 0x0D, // 指根3关节速度 | 最接近手掌的指根关节
+    TIP_SPEED = 0x0E, // 指尖关节速度 | 最接近手掌的指根关节
+
+    ROLL_TORQUE = 0x11, // 横滚关节扭矩 | 坐标系建在每个手指的指根部位，按手指伸直的状态去定义旋转角度
+    YAW_TORQUE = 0x12, // 航向关节扭矩 | 坐标系建在每个手指的指根部位，按手指伸直的状态去定义旋转角度
+    ROOT1_TORQUE = 0x13, // 指根1关节扭矩 | 最接近手掌的指根关节
+    ROOT2_TORQUE = 0x14, // 指根2关节扭矩 | 最接近手掌的指根关节
+    ROOT3_TORQUE = 0x15, // 指根3关节扭矩 | 最接近手掌的指根关节
+    TIP_TORQUE = 0x16, // 指尖关节扭矩 | 最接近手掌的指根关节
+
+    ROLL_FAULT = 0x19, // 横滚关节故障码 | 坐标系建在每个手指的指根部位，按手指伸直的状态去定义旋转角度
+    YAW_FAULT = 0x1A, // 航向关节故障码 | 坐标系建在每个手指的指根部位，按手指伸直的状态去定义旋转角度
+    ROOT1_FAULT = 0x1B, // 指根1关节故障码 | 最接近手掌的指根关节
+    ROOT2_FAULT = 0x1C, // 指根2关节故障码 | 最接近手掌的指根关节
+    ROOT3_FAULT = 0x1D, // 指根3关节故障码 | 最接近手掌的指根关节
+    TIP_FAULT = 0x1E, // 指尖关节故障码 | 最接近手掌的指根关节
+
+    ROLL_TEMPERATURE = 0x21, // 横滚关节温度 | 坐标系建在每个手指的指根部位，按手指伸直的状态去定义旋转角度
+    YAW_TEMPERATURE = 0x22, // 航向关节温度 | 坐标系建在每个手指的指根部位，按手指伸直的状态去定义旋转角度
+    ROOT1_TEMPERATURE = 0x23, // 指根1关节温度 | 最接近手掌的指根关节
+    ROOT2_TEMPERATURE = 0x24, // 指根2关节温度 | 最接近手掌的指根关节
+    ROOT3_TEMPERATURE = 0x25, // 指根3关节温度 | 最接近手掌的指根关节
+    TIP_TEMPERATURE = 0x26, // 指尖关节温度 | 最接近手掌的指根关节
+    // 并行指令区域
+
+    // 串行指令区域
+    THUMB_POS = 0x41, // 大拇指指关节位置 | 返回本类型数据
+    INDEX_POS = 0x42, // 食指关节位置 | 返回本类型数据
+    MIDDLE_POS = 0x43, // 中指关节位置 | 返回本类型数据
+    RING_POS = 0x44, // 无名指关节位置 | 返回本类型数据
+    LITTLE_POS = 0x45, // 小拇指关节位置 | 返回本类型数据
+
+    THUMB_SPEED = 0x49, // 大拇指速度 | 返回本类型数据
+    INDEX_SPEED = 0x4A, // 食指速度 | 返回本类型数据
+    MIDDLE_SPEED = 0x4B, // 中指速度 | 返回本类型数据
+    RING_SPEED = 0x4C, // 无名指速度 | 返回本类型数据
+    LITTLE_SPEED = 0x4D, // 小拇指速度 | 返回本类型数据
+
+    THUMB_TORQUE = 0x51, // 大拇指扭矩 | 返回本类型数据
+    INDEX_TORQUE = 0x52, // 食指扭矩 | 返回本类型数据
+    MIDDLE_TORQUE = 0x53, // 中指扭矩 | 返回本类型数据
+    RING_TORQUE = 0x54, // 无名指扭矩 | 返回本类型数据
+    LITTLE_TORQUE = 0x55, // 小拇指扭矩 | 返回本类型数据
+
+    THUMB_FAULT = 0x59, // 大拇指故障码 | 返回本类型数据
+    INDEX_FAULT = 0x5A, // 食指故障码 | 返回本类型数据
+    MIDDLE_FAULT = 0x5B, // 中指故障码 | 返回本类型数据
+    RING_FAULT = 0x5C, // 无名指故障码 | 返回本类型数据
+    LITTLE_FAULT = 0x5D, // 小拇指故障码 | 返回本类型数据
+
+    THUMB_TEMPERATURE = 0x61, // 大拇指温度 | 返回本类型数据
+    INDEX_TEMPERATURE = 0x62, // 食指温度 | 返回本类型数据
+    MIDDLE_TEMPERATURE = 0x63, // 中指温度 | 返回本类型数据
+    RING_TEMPERATURE = 0x64, // 无名指温度 | 返回本类型数据
+    LITTLE_TEMPERATURE = 0x65, // 小拇指温度 | 返回本类型数据
+    // 串行指令区域
+
+    // 合并指令区域，同一手指非必要单控数据合并
+    FINGER_SPEED = 0x81, // 手指速度 | 返回本类型数据
+    FINGER_TORQUE = 0x82, // 转矩 | 返回本类型数据
+    FINGER_FAULT = 0x83, // 手指故障码 | 返回本类型数据
+    MOTOR_ENABLE = 0x85, // 使能 | 返回本类型数据
+    // 指尖传感器数据组
+    HAND_NORMAL_FORCE = 0x90, // 五指法向压力
+    HAND_TANGENTIAL_FORCE = 0x91, // 五指切向压力
+    HAND_TANGENTIAL_FORCE_DIR = 0x92, // 五指切向方向
+    HAND_APPROACH_INC = 0x93, // 五指接近感应
+
+    THUMB_ALL_DATA = 0x98, // 大拇指所有数据
+    INDEX_ALL_DATA = 0x99, // 食指所有数据
+    MIDDLE_ALL_DATA = 0x9A, // 中指所有数据
+    RING_ALL_DATA = 0x9B, // 无名指所有数据
+    LITTLE_ALL_DATA = 0x9C, // 小拇指所有数据
+    // 动作指令 ·ACTION
+    ACTION_PLAY = 0xA0, // 动作，预设动作指令
+
+    // L21新增
+    TOUCH_SENSOR_TYPE = 0xB0,	// 触觉传感器类型
+    THUMB_TOUCH = 0xB1,	// 大拇指触觉传感
+    INDEX_TOUCH = 0xB2,	// 食指触觉传感
+    MIDDLE_TOUCH = 0xB3, //	中指触觉传感
+    RING_TOUCH = 0xB4, // 无名指触觉传感
+    LITTLE_TOUCH = 0xB5, //	小拇指触觉传感
+    PALM_TOUCH = 0xB6, // 手掌指触觉传感
+
+
+    // 配置命令·CONFIG
+    HAND_UID = 0xC0, // 设备唯一标识码
+    HAND_HARDWARE_VERSION = 0xC1, // 硬件版本
+    HAND_SOFTWARE_VERSION = 0xC2, // 软件版本
+    HAND_COMM_ID = 0xC3, // 设备id
+    HAND_FACTORY_RESET = 0xCE, // 恢复出厂设置
+    HAND_SAVE_PARAMETER = 0xCF, // 保存参数
+
+    WHOLE_FRAME = 0xF0, // 整帧传输 | 返回一字节帧属性+整个结构体485及网络传输专属
+};
+
+/**
+ * @brief L25/L21 型号灵巧手实现类
+ *
+ * 提供 L25 和 L21 型号的所有功能实现
+ */
+class L25Hand : public IHand {
+public:
+    L25Hand(uint32_t handId, const std::string& canChannel, int baudrate, const int currentHandType = 0);
+    ~L25Hand();
+
+    // 设置关节位置
+    void setJointPositions(const std::vector<uint8_t> &jointAngles) override;
+    void setJointPositionArc(const std::vector<double> &jointAngles) override;
+    #if 0
+    // 横滚关节位置
+    void setRoll(const std::vector<uint8_t> &roll) override;
+	// 航向关节位置
+    void setYaw(const std::vector<uint8_t> &yaw) override;
+    // 指根1关节位置
+    void setRoot1(const std::vector<uint8_t> &root1) override;
+    // 指根2关节位置
+    void setRoot2(const std::vector<uint8_t> &root2) override;
+    // 指根3关节位置
+    void setRoot3(const std::vector<uint8_t> &root3) override;
+    // 指尖关节位置
+    void setTip(const std::vector<uint8_t> &tip) override;
+    #endif
+
+    std::vector<uint8_t> state_to_cmd(const std::vector<uint8_t>& l25_state);
+    // 获取当前关节状态
+    std::vector<uint8_t> getCurrentStatus() override;
+    std::vector<double> getCurrentStatusArc() override;
+    #if 0
+    // 大拇指指关节位置
+    std::vector<uint8_t> getThumb() override;
+    // 食指关节位置
+    std::vector<uint8_t> getIndex() override;
+    // 中指关节位置
+    std::vector<uint8_t> getMiddle() override;
+    // 无名指关节位置
+    std::vector<uint8_t> getRing() override;
+    // 小拇指关节位置
+    std::vector<uint8_t> getLittle() override;
+    #endif
+    // 设置关节速度-有合并指令待确认
+    void setSpeed(const std::vector<uint8_t> &speed) override;
+    #if 0
+    // 横滚关节速度
+    void setRollSpeed(const std::vector<uint8_t> &rollSpeed) override;
+    // 航向关节速度
+    void setYawSpeed(const std::vector<uint8_t> &yawSpeed) override;
+    // 指根1关节速度
+    void setRoot1Speed(const std::vector<uint8_t> &root1Speed) override;
+    // 指根2关节速度
+    void setRoot2Speed(const std::vector<uint8_t> &root2Speed) override;
+    // 指根3关节速度
+    void setRoot3Speed(const std::vector<uint8_t> &root3Speed) override;
+    // 指尖关节速度
+    void setTipSpeed(const std::vector<uint8_t> &tipSpeed) override;
+    #endif
+    // 获取当前速度-有合并指令待确认
+    std::vector<uint8_t> getSpeed() override;
+    #if 0
+    // 大拇指速度
+    std::vector<uint8_t> getThumbSpeed() override;
+    // 食指速度
+    std::vector<uint8_t> getIndexSpeed() override;
+    // 中指速度
+    std::vector<uint8_t> getMiddleSpeed() override;
+    // 无名指速度
+    std::vector<uint8_t> getRingSpeed() override;
+    // 小拇指速度
+    std::vector<uint8_t> getLittleSpeed() override;
+    #endif
+    // 设置扭矩-有合并指令待确认
+	void setTorque(const std::vector<uint8_t> &torque) override;
+    #if 0
+    // 横滚关节扭矩
+    void setRollTorque(const std::vector<uint8_t> &rollTorque) override;
+    // 航向关节扭矩
+    void setYawTorque(const std::vector<uint8_t> &yawTorque) override;
+    // 指根1关节扭矩
+    void setRoot1Torque(const std::vector<uint8_t> &root1Torque) override;
+    // 指根2关节扭矩
+    void setRoot2Torque(const std::vector<uint8_t> &root2Torque) override;
+    // 指根3关节扭矩
+    void setRoot3Torque(const std::vector<uint8_t> &root3Torque) override;
+    // 指尖关节扭矩
+    void setTipTorque(const std::vector<uint8_t> &tipTorque) override;
+    #endif
+    // 获取当前扭矩-有合并指令待确认
+	std::vector<uint8_t> getTorque() override;
+    #if 0
+    // 大拇指扭矩
+    std::vector<uint8_t> getThumbTorque() override;
+    // 食指扭矩
+    std::vector<uint8_t> getIndexTorque() override;
+    // 中指扭矩
+    std::vector<uint8_t> getMiddleTorque() override;
+    // 无名指扭矩
+    std::vector<uint8_t> getRingTorque() override;
+    // 小拇指扭矩
+    std::vector<uint8_t> getLittleTorque() override;
+    #endif
+    // 获取故障码-有合并指令待确认
+    std::vector<uint8_t> getFaultCode() override;
+    #if 0
+    // 清除电机故障码
+    void clearFaultCode(const std::vector<uint8_t> &torque = std::vector<uint8_t>(5, 0)) override;
+    // 大拇指故障码
+    std::vector<uint8_t> getThumbFaultCode() override;
+    // 食指故障码
+    std::vector<uint8_t> getIndexFaultCode() override;
+    // 中指故障码
+    std::vector<uint8_t> getMiddleFaultCode() override;
+    // 无名指故障码
+    std::vector<uint8_t> getRingFaultCode() override;
+    // 小拇指故障码
+    std::vector<uint8_t> getLittleFaultCode() override;
+    // ------------------------------------------------以下函数待确认
+    // 横滚关节故障码
+    std::vector<uint8_t> getRollFaultCode() override;
+    // 航向关节故障码
+    std::vector<uint8_t> getYawFaultCode() override;
+    // 指根1关节故障码
+    std::vector<uint8_t> getRoot1FaultCode() override;
+    // 指根2关节故障码
+    std::vector<uint8_t> getRoot2FaultCode() override;
+    // 指根3关节故障码
+    std::vector<uint8_t> getRoot3FaultCode() override;
+    // 指尖关节故障码
+    std::vector<uint8_t> getTipFaultCode() override;
+    #endif
+    //--------------------------------------------------------------------
+    // 获取温度
+    std::vector<uint8_t> getTemperature() override;
+    #if 0
+    // 大拇指温度
+    std::vector<uint8_t> getThumbTemperature() override;
+    // 食指温度
+    std::vector<uint8_t> getIndexTemperature() override;
+    // 中指温度
+    std::vector<uint8_t> getMiddleTemperature() override;
+    // 无名指温度
+    std::vector<uint8_t> getRingTemperature() override;
+    // 小拇指温度
+    std::vector<uint8_t> getLittleTemperature() override;
+    //----------------------------------------------------以下函数待确认
+    // 获取横滚关节温度
+    std::vector<uint8_t> getRollTemperature() override;
+    // 获取航向关节温度
+    std::vector<uint8_t> getYawTemperature() override;
+    // 获取指根1关节温度
+    std::vector<uint8_t> getRoot1Temperature() override;
+    // 获取指根2关节温度
+    std::vector<uint8_t> getRoot2Temperature() override;
+    // 获取指根3关节温度
+    std::vector<uint8_t> getRoot3Temperature() override;
+    // 获取指尖关节温度
+    std::vector<uint8_t> getTipTemperature() override;
+    #endif
+	//--------------------------------------------------------------------
+	// 获取所有压感数据
+    std::vector<std::vector<uint8_t>> getForce(const int type = 0) override;
+    std::vector<std::vector<std::vector<uint8_t>>> getForce() override;
+    #if 1
+    // 获取大拇指压感数据
+    std::vector<uint8_t> getThumbForce() override;
+    // 获取食指压感数据
+    std::vector<uint8_t> getIndexForce() override;
+    // 获取中指压感数据
+    std::vector<uint8_t> getMiddleForce() override;
+    // 获取无名指压感数据
+    std::vector<uint8_t> getRingForce() override;
+    // 获取小拇指压感数据
+    std::vector<uint8_t> getLittleForce() override;
+    //-----------------------------------------------
+	// 获取五个手指的法向压力
+    std::vector<uint8_t> getNormalForce() override;
+	// 获取五个手指的切向压力
+    std::vector<uint8_t> getTangentialForce() override;
+	// 获取五个手指的切向方向
+    std::vector<uint8_t> getTangentialForceDir() override;
+	// 获取五个手指指接近感应
+    std::vector<uint8_t> getApproachInc() override;
+    #endif
+    //--------------------------------------------------------------------
+    // 获取版本号
+    std::string getVersion() override;
+    // 设置电机使能 目前仅支持L25
+	void setMotorEnable(const std::vector<uint8_t> &enable = std::vector<uint8_t>(5, 0));
+	// 设置电机使能 目前仅支持L25
+	void setMotorDisable(const std::vector<uint8_t> &disable = std::vector<uint8_t>(5, 1));
+    // 设备唯一标识码
+    std::vector<uint8_t> getUID();
+    // 设备id
+    std::vector<uint8_t> getCommID();
+    // 恢复出厂设置
+    void factoryReset();
+    // 保存参数
+    void saveParameter();
+
+
+    #if 0
+    // 动作，预设动作指令
+    void playAction(const std::vector<uint8_t> &action) override;
+    //--------------------------------------------------------------------
+    
+    // 整帧传输
+    void setWholeFrame(bool wholeFrame) override;
+    #endif
+
+private:
+    uint32_t handId;
+    std::unique_ptr<Communication::ICanBus> bus;
+    std::thread receiveThread;
+    bool running;
+    std::mutex responseMutex;
+
+    void receiveResponse();
+
+    // 故障码
+    std::vector<uint8_t> motor_fault_code;
+    // 电流
+    std::vector<uint8_t> motor_current;
+
+
+    // 速度
+    // std::vector<uint8_t> motor_speed; 
+    std::vector<uint8_t> thumb_speed; // 大拇指速度
+    std::vector<uint8_t> index_speed; // 食指速度 
+    std::vector<uint8_t> middle_speed; // 中指速度
+    std::vector<uint8_t> ring_speed; // 无名指速度
+    std::vector<uint8_t> little_speed; // 小拇指速度
+
+
+    // 关节位置
+    // std::vector<uint8_t> joint_pos; 
+    std::vector<uint8_t> thumb_pos; // 大拇指位置
+    std::vector<uint8_t> index_pos; // 食指位置
+    std::vector<uint8_t> middle_pos; // 中指位置
+    std::vector<uint8_t> ring_pos; // 无名指位置
+    std::vector<uint8_t> little_pos; // 小拇指位置
+
+    // 温度
+    // std::vector<uint8_t> motor_temperature;
+    std::vector<uint8_t> thumb_temperature; // 大拇指温度
+    std::vector<uint8_t> index_temperature;  // 食指温度
+    std::vector<uint8_t> middle_temperature; // 中指温度
+    std::vector<uint8_t> ring_temperature; // 无名指温度
+    std::vector<uint8_t> little_temperature; // 小拇指温度
+
+
+    // 扭矩
+    std::vector<uint8_t> thumb_torque; // 大拇指扭矩
+    std::vector<uint8_t> index_torque; // 食指扭矩
+    std::vector<uint8_t> middle_torque; // 中指扭矩
+    std::vector<uint8_t> ring_torque; // 无名指扭矩
+    std::vector<uint8_t> little_torque; // 小拇指扭矩
+
+    // 故障
+    std::vector<uint8_t> thumb_fault; // 大拇指故障
+    std::vector<uint8_t> index_fault; // 食指故障
+    std::vector<uint8_t> middle_fault; // 中指故障
+    std::vector<uint8_t> ring_fault; // 无名指故障
+    std::vector<uint8_t> little_fault; // 小拇指故障
+
+    std::vector<uint8_t> normal_force;
+    std::vector<uint8_t> tangential_force;
+    std::vector<uint8_t> tangential_force_dir;
+    std::vector<uint8_t> approach_inc;
+
+    std::vector<uint8_t> thumb_pressure;
+    std::vector<uint8_t> index_finger_pressure;
+    std::vector<uint8_t> middle_finger_pressure;
+    std::vector<uint8_t> ring_finger_pressure;
+    std::vector<uint8_t> little_finger_pressure;
+    std::vector<uint8_t> palm_force_data;
+    
+	// std::vector<uint8_t> joint_position2;
+    // std::vector<uint8_t> joint_position3;
+    // std::vector<uint8_t> joint_position4;
+    // std::vector<uint8_t> joint_position5;
+
+    // 版本号
+    std::vector<uint8_t> hand_hardware_version;
+    std::vector<uint8_t> hand_software_version;
+
+    // 设备唯一标志
+    std::vector<uint8_t> hand_uid;
+    std::vector<uint8_t> hand_comm_id;
+
+    // 堵转计数
+    std::vector<uint8_t> rotor_lock_count;
+
+    // 手型
+    int current_hand_type = 0; // 0:L25 1:L21
+
+    uint8_t sensor_type = 0;
+
+    std::vector<std::vector<std::vector<uint8_t>>> touch_mats;
+};
+
+} // namespace hand
+} // namespace linkerhand
+
+// 向后兼容：在旧命名空间中提供别名
+namespace LinkerHandL25 {
+    using FRAME_PROPERTY = linkerhand::hand::L25FrameProperty;
+    using LinkerHand = linkerhand::hand::L25Hand;
+} // namespace LinkerHandL25
+
+#endif // LINKERHAND_L25_H
\ No newline at end of file

include/LinkerHandL6.h

+#ifndef LINKERHAND_L6_H
+#define LINKERHAND_L6_H
+
+#include <thread>
+#include <mutex>
+#include <queue>
+#include <chrono>
+#include <iostream>
+#include <sstream>
+#include <condition_variable>
+
+#include "IHand.h"
+#include "CanBusFactory.h"
+
+namespace linkerhand {
+namespace hand {
+
+// L6/O6 型号的帧属性枚举
+enum class L6FrameProperty
+{                                      
+    // 指令码	指令功能		        	数据长度	CAN发送DLC	CAN接收DLC	数据范围
+    JOINT_POSITION = 0x01,	            // 关节1-6的关节位置		6	7	7	0-0xFF
+    TORQUE_LIMIT = 0x02,	            // 关节1-6的转矩限制		6	7	7	0-0xFF
+    JOINT_SPEED = 0x05,	                // 关节1-6的速度			6	7	7	0-0xFF
+    JOINT_ACCELERATION = 0x07,          // 关节1-6的加速度		6	7	7	0-0xFE
+    MOTOR_TEMPERATURE = 0x33,	        // 关节1-6的温度信息		7	1	8	0-0xFF
+    MOTOR_ERROR_CODE = 0x35,	        // 关节1-6的错误码		7	1	8	0-0xFF
+    CLEAR_FAULT_CODE = 0x83,	        // 清除关节1-6的错误码		6	7	7	0-0xFF
+    RE_HOME_COMMAND = 0x38,	            // 重新调零点命令		8	8	2	
+    
+    // 设备信息指令
+    DEVICE_SERIAL_NUMBER = 0xC0,        // 设备出厂编码			24	1	3帧8字节	
+    DEVICE_HARDWARE_VERSION = 0xC1,     // 设备硬件PCB版本号		3	1	4	
+    DEVICE_SOFTWARE_VERSION = 0xC2,     // 设备软件版本号		3	1	4	
+    DEVICE_MECHANICAL_VERSION = 0xC4,   // 设备机械结构版本号	3	1	4	
+    MODIFY_CAN_ID = 0xC3,               // 修改CANID指令		3			
+    STALL_THRESHOLD = 0xC5,             // 堵转阈值				
+    STALL_TIME = 0xC6,                  // 堵转时间				
+    STALL_TORQUE = 0xC7,                // 堵转扭矩				
+    FACTORY_RESET = 0xCE,               // 恢复出厂设置			
+    SAVE_PARAMETERS = 0xCF,             // 保存参数				
+
+    // 触觉传感器指令
+    TOUCH_SENSOR_TYPE = 0xB0,	        // 触觉传感器类型
+    THUMB_TOUCH = 0xB1,	                // 大拇指触觉传感
+    INDEX_TOUCH = 0xB2,	                // 食指触觉传感
+    MIDDLE_TOUCH = 0xB3,                // 中指触觉传感
+    RING_TOUCH = 0xB4,                  // 无名指触觉传感
+    LITTLE_TOUCH = 0xB5,                // 小拇指触觉传感
+    PALM_TOUCH = 0xB6                   // 手掌触觉传感
+};
+
+// 协议辅助常量
+static constexpr uint8_t TOUCH_TYPE_MATRIX = 0x02; // 矩阵型触觉类型值
+static constexpr uint8_t TOUCH_PAGE_REQ    = 0xC6; // 触觉分页读取的请求子命令
+
+/**
+ * @brief L6/O6 型号灵巧手实现类
+ *
+ * 提供 L6 和 O6 型号的所有功能实现
+ */
+class L6Hand : public IHand
+{
+public:
+    L6Hand(uint32_t handId, const std::string &canChannel, int baudrate);
+    ~L6Hand();
+
+	// 设置关节位置
+    void setJointPositions(const std::vector<uint8_t> &jointAngles) override;
+    void setJointPositionArc(const std::vector<double> &jointAngles) override;
+    
+    void setSpeed(const std::vector<uint8_t> &speed) override;
+    
+    void setTorque(const std::vector<uint8_t> &torque);
+
+    void setAcceleration(const std::vector<uint8_t> &acceleration);
+
+    // 重新调零
+    void reHome();
+    
+    // 获取当前关节状态
+    std::vector<uint8_t> getCurrentStatus() override;
+    std::vector<double> getCurrentStatusArc() override;
+    
+    // 获取当前速度
+    std::vector<uint8_t> getSpeed() override;
+    
+    // 获取当前扭矩
+    std::vector<uint8_t> getTorque() override;
+    
+    // 获取当前加速度
+    std::vector<uint8_t> getAcceleration();
+    
+    // 获取电机错误码
+    std::vector<uint8_t> getFaultCode() override;
+
+    void clearFaultCode(const std::vector<uint8_t> &code);
+    
+    // 获取压感数据
+    std::vector<std::vector<std::vector<uint8_t>>> getForce() override;
+    
+    // 获取电机温度
+    std::vector<uint8_t> getTemperature() override;
+    
+    // 获取版本信息
+    std::string getVersion() override;
+    
+    // 获取设备序列号
+    std::string getSerialNumber();
+    
+    // 获取硬件版本
+    std::string getHardwareVersion();
+    
+    // 获取机械版本
+    std::string getMechanicalVersion();
+    
+    // 系统功能
+    void factoryReset();
+    void saveParameters();
+	
+private:
+    uint32_t handId;
+    std::unique_ptr<Communication::ICanBus> bus;
+    std::thread receiveThread;
+    bool running;
+    std::mutex data_mutex_;
+
+    void receiveResponse();
+
+    // 数据存储
+    std::vector<uint8_t> joint_position;
+    std::vector<uint8_t> joint_speeds;
+    std::vector<uint8_t> joint_torques;
+    std::vector<uint8_t> joint_accelerations;
+    std::vector<uint8_t> motor_temperature;
+    std::vector<uint8_t> error_codes;
+    std::vector<uint8_t> device_serial;
+    std::vector<uint8_t> hardware_version;
+    std::vector<uint8_t> software_version;
+    std::vector<uint8_t> mechanical_version;
+
+    std::vector<std::vector<std::vector<uint8_t>>> touch_mats;
+
+    uint8_t sensor_type = 0;
+    
+    // 辅助方法
+    void requestDeviceInfo();
+    void parseSerialNumber(const std::vector<uint8_t>& data);
+    std::string getErrorDescription(uint8_t error_code);
+};
+
+} // namespace hand
+} // namespace linkerhand
+
+// 向后兼容：在旧命名空间中提供别名
+namespace LinkerHandL6 {
+    using FRAME_PROPERTY = linkerhand::hand::L6FrameProperty;
+    using LinkerHand = linkerhand::hand::L6Hand;
+} // namespace LinkerHandL6
+
+#endif // LINKERHAND_L6_H

include/LinkerHandL7.h

+#ifndef LINKERHAND_L7_H
+#define LINKERHAND_L7_H
+
+#include <thread>
+#include <mutex>
+#include <queue>
+#include <chrono>
+#include <iostream>
+#include <sstream>
+#include <condition_variable>
+
+#include "IHand.h"
+#include "CanBusFactory.h"
+
+namespace linkerhand {
+namespace hand {
+
+// L7 型号的帧属性枚举
+enum class L7FrameProperty
+{									  
+    // 指令码	指令功能		        	数据长度	        CAN发送DLC	CAN接收DLC	数据范围
+    JOINT_POSITION = 0x01,	            // 关节1-7的关节位置		7	8	8	0-0xFF
+    TORQUE_LIMIT = 0x02,	            // 关节1-7的转矩限制	    7	8	8	0-0xFF
+    JOINT_SPEED = 0x05,	                // 关节1-7的速度		   7	8	8	0-0xFF
+    HAND_NORMAL_FORCE = 0x20,	        // 五个手指的法向压力		5	1	6	0-0xFF
+    HAND_TANGENTIAL_FORCE = 0x21,	    // 五个手指的切向压力		5	1	6	0-0xFF
+    HAND_TANGENTIAL_FORCE_DIR = 0x22,	// 五个手指的切向方向		5	1	6	0-0x7F 0xFF
+    HAND_APPROACH_INC = 0x23,	        // 五个手指指接近感应		5	1	6	0-0xFF
+    THUMB_ALL_DATA = 0x28,	            // 大拇指所有压力数据		4	1	5	0-0xFF
+    INDEX_FINGER_ALL_DATA = 0x29,	    // 食指所有压力数据			4	1	5	0-0xFF
+    MIDDLE_FINGER_ALL_DATA = 0x30,	    // 中指所有压力数据		    4	1	5	0-0xFF
+    RING_FINGER_ALL_DATA = 0x31,	    // 无名指所有压力数据		4	1	5	0-0xFF
+    LITTLE_FINGER_ALL_DATA = 0x32,	    // 小拇指所有压力数据		4	1	5	0-0xFF
+    MOTOR_TEMPERATURE = 0x33,	        // 关节1-7的温度信息		7	1	8	0-0xFF
+    MOTOR_FAULT_CODE = 0x35,	        // 关节1-7的错误码			7	1	8	0-0xFF
+    RESET_ZERO_COMMAND = 0x38,	        // 重新调零点命令		    1	1	2	
+    LINKER_HAND_VERSION = 0x64,	        // 版本号			       8   1   8    0-0xFF
+
+    // 新压感
+    TOUCH_SENSOR_TYPE = 0xB0,	// 触觉传感器类型
+    THUMB_TOUCH = 0xB1,	// 大拇指触觉传感
+    INDEX_TOUCH = 0xB2,	// 食指触觉传感
+    MIDDLE_TOUCH = 0xB3, //	中指触觉传感
+    RING_TOUCH = 0xB4, // 无名指触觉传感
+    LITTLE_TOUCH = 0xB5, //	小拇指触觉传感
+    PALM_TOUCH = 0xB6 // 手掌指触觉传感
+};
+
+/**
+ * @brief L7 型号灵巧手实现类
+ *
+ * 提供 L7 型号的所有功能实现
+ */
+class L7Hand : public IHand
+{
+public:
+    L7Hand(uint32_t handId, const std::string &canChannel, int baudrate);
+    ~L7Hand();
+
+	// 设置关节位置
+    void setJointPositions(const std::vector<uint8_t> &jointAngles) override;
+    void setJointPositionArc(const std::vector<double> &jointAngles) override;
+	// 设置最大扭矩
+	void setTorque(const std::vector<uint8_t> &torque) override;
+	// 设置关节速度
+    void setSpeed(const std::vector<uint8_t> &speed) override;
+	// 获取当前速度
+    std::vector<uint8_t> getSpeed() override;
+    // 获取当前扭矩
+	std::vector<uint8_t> getTorque() override;
+	// 获取当前关节状态
+    std::vector<uint8_t> getCurrentStatus() override;
+    std::vector<double> getCurrentStatusArc() override;
+	//--------------------------------------------------------------------
+	// 获取所有压感数据
+    std::vector<std::vector<std::vector<uint8_t>>> getForce() override;
+    #if 1
+	// 获取五个手指的法向压力
+    std::vector<uint8_t> getNormalForce() override;
+	// 获取五个手指的切向压力
+    std::vector<uint8_t> getTangentialForce() override;
+	// 获取五个手指的切向方向
+    std::vector<uint8_t> getTangentialForceDir() override;
+	// 获取五个手指指接近感应
+    std::vector<uint8_t> getApproachInc() override;
+    #endif
+	//--------------------------------------------------------------------
+	// 获取电机温度
+    std::vector<uint8_t> getTemperature() override;
+	// 获取电机故障码
+    std::vector<uint8_t> getFaultCode() override;
+    // 获取版本信息
+    std::string getVersion() override;
+	
+
+private:
+    uint32_t handId;
+    std::unique_ptr<Communication::ICanBus> bus;
+    std::thread receiveThread;
+    bool running;
+
+    void receiveResponse();
+
+    // 队列和条件变量
+	std::vector<uint8_t> joint_position;
+	std::vector<uint8_t> joint_position2;
+	std::vector<uint8_t> joint_speed;
+
+	std::vector<uint8_t> normal_force;
+    std::vector<uint8_t> tangential_force;
+    std::vector<uint8_t> tangential_force_dir;
+    std::vector<uint8_t> approach_inc;
+
+	std::vector<uint8_t> thumb_pressure;
+    std::vector<uint8_t> index_finger_pressure;
+    std::vector<uint8_t> middle_finger_pressure;
+    std::vector<uint8_t> ring_finger_pressure;
+    std::vector<uint8_t> little_finger_pressure;
+
+    std::vector<std::vector<std::vector<uint8_t>>> touch_mats;
+
+	// 最大扭矩
+    std::vector<uint8_t> max_torque;
+
+	// 电机温度
+    std::vector<uint8_t> motorTemperature_1;
+	std::vector<uint8_t> motorTemperature_2;
+	
+	// 电机故障码
+    std::vector<uint8_t> motorFaultCode_1;
+	std::vector<uint8_t> motorFaultCode_2;
+
+	// 版本信息
+	std::vector<uint8_t> version;
+
+    uint8_t sensor_type = 0;
+};
+
+} // namespace hand
+} // namespace linkerhand
+
+// 向后兼容：在旧命名空间中提供别名
+namespace LinkerHandL7 {
+    using FRAME_PROPERTY = linkerhand::hand::L7FrameProperty;
+    using LinkerHand = linkerhand::hand::L7Hand;
+} // namespace LinkerHandL7
+
+#endif // LINKERHAND_L7_H
\ No newline at end of file

include/Logger.h

+#ifndef LINKERHAND_LOGGER_H
+#define LINKERHAND_LOGGER_H
+
+#include <iostream>
+#include <string>
+#include <sstream>
+#include <mutex>
+#include <memory>
+
+namespace linkerhand {
+namespace logging {
+
+/**
+ * @brief 日志级别枚举
+ */
+enum class LogLevel {
+    TRACE = 0,
+    DEBUG,
+    INFO,
+    WARN,
+    ERROR,
+    CRITICAL,
+    OFF
+};
+
+/**
+ * @brief 日志接口
+ * 
+ * 定义日志系统的接口，可以替换为 spdlog 或其他日志库
+ */
+class ILogger {
+public:
+    virtual ~ILogger() = default;
+    
+    virtual void log(LogLevel level, const std::string& message) = 0;
+    virtual void setLevel(LogLevel level) = 0;
+    virtual LogLevel getLevel() const = 0;
+    
+    void trace(const std::string& message) { log(LogLevel::TRACE, message); }
+    void debug(const std::string& message) { log(LogLevel::DEBUG, message); }
+    void info(const std::string& message) { log(LogLevel::INFO, message); }
+    void warn(const std::string& message) { log(LogLevel::WARN, message); }
+    void error(const std::string& message) { log(LogLevel::ERROR, message); }
+    void critical(const std::string& message) { log(LogLevel::CRITICAL, message); }
+};
+
+/**
+ * @brief 简单控制台日志实现
+ * 
+ * 使用 std::cout 和 std::cerr 输出日志
+ * 可以后续替换为 spdlog
+ */
+class ConsoleLogger : public ILogger {
+public:
+    explicit ConsoleLogger(LogLevel level = LogLevel::INFO) 
+        : currentLevel_(level) {}
+    
+    void log(LogLevel level, const std::string& message) override {
+        if (level < currentLevel_ || level == LogLevel::OFF) {
+            return;
+        }
+        
+        std::lock_guard<std::mutex> lock(mutex_);
+        
+        const char* levelStr = levelToString(level);
+        std::ostream& stream = (level >= LogLevel::ERROR) ? std::cerr : std::cout;
+        
+        stream << "[" << levelStr << "] " << message << std::endl;
+    }
+    
+    void setLevel(LogLevel level) override {
+        std::lock_guard<std::mutex> lock(mutex_);
+        currentLevel_ = level;
+    }
+    
+    LogLevel getLevel() const override {
+        return currentLevel_;
+    }
+
+private:
+    static const char* levelToString(LogLevel level) {
+        switch (level) {
+            case LogLevel::TRACE: return "TRACE";
+            case LogLevel::DEBUG: return "DEBUG";
+            case LogLevel::INFO: return "INFO";
+            case LogLevel::WARN: return "WARN";
+            case LogLevel::ERROR: return "ERROR";
+            case LogLevel::CRITICAL: return "CRITICAL";
+            default: return "UNKNOWN";
+        }
+    }
+    
+    LogLevel currentLevel_;
+    mutable std::mutex mutex_;
+};
+
+/**
+ * @brief 空日志实现（禁用日志）
+ */
+class NullLogger : public ILogger {
+public:
+    void log(LogLevel, const std::string&) override {}
+    void setLevel(LogLevel) override {}
+    LogLevel getLevel() const override { return LogLevel::OFF; }
+};
+
+/**
+ * @brief 全局日志管理器
+ */
+class Logger {
+public:
+    /**
+     * @brief 获取默认日志实例
+     */
+    static ILogger& get() {
+        static std::unique_ptr<ILogger> instance = 
+            std::make_unique<ConsoleLogger>(LogLevel::INFO);
+        return *instance;
+    }
+    
+    /**
+     * @brief 设置日志实例
+     */
+    static void setLogger(std::unique_ptr<ILogger> logger) {
+        static std::unique_ptr<ILogger> instance = std::move(logger);
+        get() = *instance;
+    }
+    
+    /**
+     * @brief 便捷方法：记录 TRACE 日志
+     */
+    static void trace(const std::string& message) {
+        get().trace(message);
+    }
+    
+    /**
+     * @brief 便捷方法：记录 DEBUG 日志
+     */
+    static void debug(const std::string& message) {
+        get().debug(message);
+    }
+    
+    /**
+     * @brief 便捷方法：记录 INFO 日志
+     */
+    static void info(const std::string& message) {
+        get().info(message);
+    }
+    
+    /**
+     * @brief 便捷方法：记录 WARN 日志
+     */
+    static void warn(const std::string& message) {
+        get().warn(message);
+    }
+    
+    /**
+     * @brief 便捷方法：记录 ERROR 日志
+     */
+    static void error(const std::string& message) {
+        get().error(message);
+    }
+    
+    /**
+     * @brief 便捷方法：记录 CRITICAL 日志
+     */
+    static void critical(const std::string& message) {
+        get().critical(message);
+    }
+    
+    /**
+     * @brief 设置日志级别
+     */
+    static void setLevel(LogLevel level) {
+        get().setLevel(level);
+    }
+    
+    /**
+     * @brief 获取日志级别
+     */
+    static LogLevel getLevel() {
+        return get().getLevel();
+    }
+};
+
+} // namespace logging
+} // namespace linkerhand
+
+// 便捷宏定义
+#define LINKERHAND_LOG_TRACE(msg) linkerhand::logging::Logger::trace(msg)
+#define LINKERHAND_LOG_DEBUG(msg) linkerhand::logging::Logger::debug(msg)
+#define LINKERHAND_LOG_INFO(msg) linkerhand::logging::Logger::info(msg)
+#define LINKERHAND_LOG_WARN(msg) linkerhand::logging::Logger::warn(msg)
+#define LINKERHAND_LOG_ERROR(msg) linkerhand::logging::Logger::error(msg)
+#define LINKERHAND_LOG_CRITICAL(msg) linkerhand::logging::Logger::critical(msg)
+
+#endif // LINKERHAND_LOGGER_H

include/ModBus.h

+#ifndef LINKERHAND_MOD_BUS_H
+#define LINKERHAND_MOD_BUS_H
+#if USE_RMAN
+#include <cstdint>
+#include <vector>
+#include <string>
+#include <iostream>
+#include <mutex>
+#include <atomic>
+
+#include <unistd.h>
+#include <chrono>
+#include <thread>
+#include <queue>
+#include <unistd.h>
+#include <fcntl.h>
+#include <iomanip>
+#include <sstream>
+#include "rm_service.h"
+#include "Common.h"
+#include "ICommunication.h"
+
+namespace linkerhand {
+namespace communication {
+
+/**
+ * @brief ModBus 通信实现
+ */
+class ModBus : public ICommunication
+    {
+    public:
+        ModBus(uint32_t handId);
+        ~ModBus();
+
+        void send(const std::vector<uint8_t>& data, uint32_t &id, const int &start_address = 0, const int &num = 0) override;
+        std::vector<uint8_t> recv(uint32_t& id, const int &start_address = 0, const int &num = 0) override;
+
+        bool writeHoldingRegister(const int &id, const int &start_address, const int &num, const std::vector<uint8_t> &data);
+        std::vector<uint8_t> readHoldingRegister(const int &id, const int &start_address, const int &num);
+
+    private:
+        uint32_t handId;
+        int result = -1;
+        rm_robot_handle *robot_handle;
+        RM_Service robotic_arm;
+
+        std::mutex send_mutex;
+    };
+} // namespace communication
+} // namespace linkerhand
+
+// 向后兼容：在全局命名空间中提供别名
+namespace Communication = linkerhand::communication;
+
+#endif
+#endif // LINKERHAND_MOD_BUS_H

include/ModbusLinkerHandL10.h

+#ifndef LINKERHAND_MODBUS_L10_H
+#define LINKERHAND_MODBUS_L10_H
+#if USE_RMAN
+#include <thread>
+#include <mutex>
+#include <queue>
+#include <iostream>
+#include <sstream>
+#include <vector>
+#include <condition_variable>
+
+#include "ModBus.h"
+#include "IHand.h"
+
+namespace linkerhand {
+namespace hand {
+
+/**
+ * @brief Modbus L10 型号灵巧手实现类
+ *
+ * 提供通过 Modbus 协议通信的 L10 型号功能实现
+ */
+class ModbusL10Hand : public IHand
+{
+public:
+    LinkerHand(uint32_t handId);
+    ~LinkerHand();
+
+	// 设置关节位置
+    void setJointPositions(const std::vector<uint8_t> &jointAngles) override;
+    void setJointPositionArc(const std::vector<double> &jointAngles) override;
+	// 设置最大扭矩
+	void setTorque(const std::vector<uint8_t> &torque) override;
+	// 设置关节速度
+    void setSpeed(const std::vector<uint8_t> &speed) override;
+	// 获取当前速度
+    std::vector<uint8_t> getSpeed() override;
+    // 获取当前扭矩
+	std::vector<uint8_t> getTorque() override;
+	// 获取当前关节状态
+    std::vector<uint8_t> getCurrentStatus() override;
+    std::vector<double> getCurrentStatusArc() override;
+	
+
+private:
+    uint32_t handId;
+    std::thread receiveThread;
+
+    Communication::ModBus bus;
+
+    bool running;
+    void receiveResponse();
+
+	std::vector<uint8_t> joints;
+	std::vector<uint8_t> speed;
+    std::vector<uint8_t> torque;
+
+};
+
+} // namespace hand
+} // namespace linkerhand
+
+// 向后兼容：在旧命名空间中提供别名
+namespace ModbusLinkerHandL10 {
+    using LinkerHand = linkerhand::hand::ModbusL10Hand;
+} // namespace ModbusLinkerHandL10
+
+#endif
+#endif // LINKERHAND_MODBUS_L10_H

include/PCANBus.h

+#ifdef _WIN32
+#ifndef LINKERHAND_PCAN_BUS_H
+#define LINKERHAND_PCAN_BUS_H
+
+#include <iostream>
+#include <windows.h>
+#include <PCANBasic.h>
+#include <vector>
+#include <mutex>
+#include <atomic>
+#include <chrono>
+#include <thread>
+#include <queue>
+#include <sstream>
+#include <iomanip>
+#include <thread>
+
+#include "ICanBus.h"
+
+namespace linkerhand {
+namespace communication {
+
+/**
+ * @brief Windows PCAN 总线实现
+ */
+class PCANBus : public ICanBus
+    {
+    public:
+        PCANBus(TPCANHandle channel, TPCANBaudrate bitrate, const LINKER_HAND linkerhand);
+        ~PCANBus();
+        std::string printMillisecondTime();
+        void send(const std::vector<uint8_t>& data, uint32_t can_id, const bool wait = false) override;
+        CANFrame recv(uint32_t &id) override;
+        void updateSendRate();
+        void updateReceiveRate();
+
+    private:
+        TPCANHandle channel;
+        LINKER_HAND linker_hand;
+        std::mutex mutex_send;
+        std::mutex mutex_receive;
+        std::mutex send_mutex;
+        std::atomic<int> send_count;
+        std::chrono::steady_clock::time_point last_time;
+        std::mutex receive_mutex;
+        std::atomic<int> receive_count;
+        std::chrono::steady_clock::time_point receive_last_time;
+        std::queue<TPCANMsg> send_queue;
+    };
+} // namespace communication
+} // namespace linkerhand
+
+// 向后兼容：在全局命名空间中提供别名
+namespace Communication = linkerhand::communication;
+
+#endif // LINKERHAND_PCAN_BUS_H
+#endif

include/RangeToArc.h

+#ifndef LINKERHAND_RANGE_TO_ARC_H
+#define LINKERHAND_RANGE_TO_ARC_H
+
+#include <vector>
+#include <stdexcept>
+#include <cmath>
+#include <condition_variable>
+
+//---------------------------------------------------------------------------------------------------
+// L7 L OK
+const std::vector<double> l7_l_min = {0, 0, 0, 0, 0, 0, -0.52};
+const std::vector<double> l7_l_max = {0.44, 1.43, 1.62, 1.62, 1.62, 1.62, 1.01};
+const std::vector<int> l7_l_derict = {-1, -1, -1, -1, -1, -1, -1};
+// L7 R OK (urdf后续会更改！！！)
+const std::vector<double> l7_r_min = {0, -1.43, 0, 0, 0, 0, 0};
+const std::vector<double> l7_r_max = {0.75, 0, 1.62, 1.62, 1.62, 1.62, 1.54};
+const std::vector<int> l7_r_derict = {-1, 0, -1, -1, -1, -1, -1};
+//---------------------------------------------------------------------------------------------------
+// L10 L OK
+const std::vector<double> l10_l_min = {0, 0, 0, 0, 0, 0, 0, -0.26, -0.26, -0.52};
+const std::vector<double> l10_l_max = {1.45, 1.43, 1.62, 1.62, 1.62, 1.62, 0.26, 0, 0, 1.01};
+const std::vector<int> l10_l_derict = {-1, -1, -1, -1, -1, -1, 0, -1, -1, -1};
+// L10 R OK
+const std::vector<double> l10_r_min = {0, 0, 0, 0, 0, 0, -0.26, 0, 0, -0.52};
+const std::vector<double> l10_r_max = {0.75, 1.43, 1.62, 1.62, 1.62, 1.62, 0, 0.13, 0.26, 1.01};
+const std::vector<int> l10_r_derict = {-1, -1, -1, -1, -1, -1, -1, 0, 0, -1};
+//---------------------------------------------------------------------------------------------------
+// L20 L OK
+const std::vector<double> l20_l_min = {0, 0, 0, 0, 0, -0.297, -0.26, -0.26, -0.26, -0.26, 0.122, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+const std::vector<double> l20_l_max = {0.87, 1.4, 1.4, 1.4, 1.4, 0.683, 0.26, 0.26, 0.26, 0.26, 1.78, 0, 0, 0, 0, 1.29, 1.08, 1.08, 1.08, 1.08};
+const std::vector<int> l20_l_derict = {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 0, 0, 0, 0, -1, -1, -1, -1, -1};
+// L20 R OK
+const std::vector<double> l20_r_min = {0, 0, 0, 0, 0, -0.297, -0.26, -0.26, -0.26, -0.26, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+const std::vector<double> l20_r_max = {0.87, 1.4, 1.4, 1.4, 1.4, 0.683, 0.26, 0.26, 0.26, 0.26, 1.78, 0, 0, 0, 0, 1.29, 1.08, 1.08, 1.08, 1.08};
+const std::vector<int> l20_r_derict = {-1, -1, -1, -1, -1, -1, 0, 0, 0, 0, -1, 0, 0, 0, 0, -1, -1, -1, -1, -1};
+//---------------------------------------------------------------------------------------------------
+// L21 L OK
+const std::vector<double> l21_l_min = {0, 0, 0, 0, 0, 0, 0, -0.18, -0.18, 0, -0.6, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+const std::vector<double> l21_l_max = {1, 1.57, 1.57, 1.57, 1.57, 1.6, 0.18, 0.18, 0.18, 0.18, 0.6, 0, 0, 0, 0, 1.57, 0, 0, 0, 0, 1.57, 1.57, 1.57, 1.57, 1.57};
+const std::vector<int> l21_l_derict = {-1, -1, -1, -1, -1, -1, -1, -1, -1, 0, -1, 0, 0, 0, 0, -1, 0, 0, 0, 0, -1, -1, -1, -1, -1};
+// L21 R OK
+const std::vector<double> l21_r_min = {0, 0, 0, 0, 0, 0, -0.18, -0.18, -0.18, -0.18, -0.6, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+const std::vector<double> l21_r_max = {1, 1.57, 1.57, 1.57, 1.57, 1.6, 0.18, 0.18, 0.18, 0.18, 0.6, 0, 0, 0, 0, 1.57, 0, 0, 0, 0, 1.57, 1.57, 1.57, 1.57, 1.57};
+const std::vector<int> l21_r_derict = {-1, -1, -1, -1, -1, -1, 0, 0, 0, 0, -1, 0, 0, 0, 0, -1, 0, 0, 0, 0, -1, -1, -1, -1, -1};
+//---------------------------------------------------------------------------------------------------
+// L25 L OK
+const std::vector<double> l25_l_min = {0, 0, 0, 0, 0, 0, -0.26, -0.26, -0.26, -0.26, -0.26, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+const std::vector<double> l25_l_max = {0.9, 1.57, 1.57, 1.57, 1.57, 1.3, 0.26, 0.26, 0.26, 0.26, 0.61, 0, 0, 0, 0, 1.57, 1.57, 1.57, 1.57, 1.57, 1.57, 1.57, 1.57, 1.57, 1.57};
+const std::vector<int> l25_l_derict = {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1};
+// L25 R OK
+const std::vector<double> l25_r_min = {0, 0, 0, 0, 0, 0, -0.26, -0.26, -0.26, -0.26, -0.26, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+const std::vector<double> l25_r_max = {0.9, 1.57, 1.57, 1.57, 1.57, 1.3, 0.26, 0.26, 0.26, 0.26, 0.61, 0, 0, 0, 0, 1.57, 1.57, 1.57, 1.57, 1.57, 1.57, 1.57, 1.57, 1.57, 1.57};
+const std::vector<int> l25_r_derict = {-1, -1, -1, -1, -1, -1, 0, 0, 0, 0, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1};
+//---------------------------------------------------------------------------------------------------
+
+
+double is_within_range(double value, double min_value, double max_value);
+
+double scale_value(double original_value, double a_min, double a_max, double b_min, double b_max);
+
+bool should_skip_joint(int joints_type, int joint_index);
+
+bool initialize_params(int joints_type, const std::string& left_or_right, std::vector<double>& min_limits, std::vector<double>& max_limits, std::vector<int>& derict);
+
+std::vector<double> range_to_arc(const int &joints_type, const std::string &left_or_right, const std::vector<uint8_t> &hand_range);
+
+std::vector<uint8_t> arc_to_range(const int &joints_type, const std::string &left_or_right, const std::vector<double> &hand_arc);
+
+#endif // LINKERHAND_RANGE_TO_ARC_H

lib/aarch64/liblinkerhand_cpp_sdk.so.1

+liblinkerhand_cpp_sdk.so.1.5.8
\ No newline at end of file

lib/x86_64/liblinkerhand_cpp_sdk.so.1

+liblinkerhand_cpp_sdk.so.1.5.8
\ No newline at end of file

script.sh

+#!/bin/bash
+
+# 从 CMakeLists.txt 读取版本号
+VERSION=$(grep -E "^\s*VERSION\s+" CMakeLists.txt | head -1 | sed 's/.*VERSION\s\+\([0-9.]*\).*/\1/')
+if [ -z "$VERSION" ]; then
+    # 如果无法读取，使用默认版本
+    VERSION="1.1.7"
+fi
+
+# 确定系统架构
+ARCH=$(uname -m)
+
+# 设置安装目录
+INSTALL_PREFIX="/usr/local"
+
+
+function LoadedColor_information()
+{
+  # 文本颜色
+  BLACK='\033[0;30m'
+  # 黑色
+  RED='\033[0;31m'
+  # 红色
+  GREEN='\033[0;32m'
+  # 绿色
+  YELLOW='\033[0;33m'
+  # 黄色
+  BLUE='\033[0;34m'
+  # 蓝色
+  PURPLE='\033[0;35m'
+  # 紫色
+  CYAN='\033[0;36m'
+  # 青色
+  WHITE='\033[0;37m'
+  # 白色
+
+  RED_WHITE='\033[47;31m'
+  # 红色
+  GREEN_WHITE='\033[47;32m'
+  # 绿色
+  WHITE_BLACK='\033[40;37m'
+  # 白色+黑色
+  YELLOW_WHITE='\033[47;33m'
+
+  # 黄色+白色
+  # 背景颜色
+  BLACK_B='\033[40m'
+  # 黑色
+  RED_B='\033[41m'
+  # 红色
+  GREEN_B='\033[42m'
+  # 绿色
+  yellow_B='\033[43m'
+  # 黄色
+  blue_B='\033[44m'
+  # 蓝色
+  purple_B='\033[45m'
+  # 紫色
+  Cyan_B='\033[46m'
+  # 青色
+  White_B='\033[47m'
+  # 白色
+
+  # 文本样式
+  RESET='\033[0m'
+  # 重置所有属性
+  BOLD='\033[1m'
+  # 粗体
+  underline='\033[4m'
+  # 下划线
+  Blinking='\033[5m'
+  # 闪烁
+  Invert='\033[7m'
+  # 反显
+  Hidden='\033[8m'
+  # 隐藏
+#   echo "========================================================="
+#   echo -e "${GREEN}Successfully loaded color information !${RESET}"
+#   echo "========================================================="
+}
+
+CLOSE_RESERVE="exce bash" # exce bash
+
+RUN() {
+	local launch=$1
+	gnome-terminal -- bash -c "source devel/setup.sh; $launch; $CLOSE_RESERVE"
+	sleep 3
+}
+
+
+RUN1() {
+	local launch=$1
+	local command package launch_file
+
+    IFS=' ' read -r command package launch_file <<< "$launch"
+	
+	gnome-terminal -- bash -c "source devel/setup.sh; $launch; $CLOSE_RESERVE"  > /dev/null 2>&1
+	
+	echo "Node: $package"
+    while ! rosnode list | grep -q $package; do
+      echo -e "  starting..."
+      sleep 1
+    done
+    echo -e "  Startup completed"
+}
+
+
+function build_sdk(){
+    mkdir build; cd build; cmake ..; make; cd ..
+}
+
+function install_sdk(){
+    # 安装脚本
+    set -e
+
+    echo "检测到系统架构: $ARCH"
+    echo "正在安装 linkerhand-cpp-sdk 到系统..."
+    
+    # 安装头文件
+    echo "安装头文件到 $INSTALL_PREFIX/include/linkerhand-cpp-sdk..."
+    sudo mkdir -p $INSTALL_PREFIX/include/linkerhand-cpp-sdk
+    sudo cp -r include/* $INSTALL_PREFIX/include/linkerhand-cpp-sdk/
+
+    # 安装库文件
+    if [ "$ARCH" = "x86_64" ]; then
+        echo "安装 x86_64 库文件..."
+        sudo mkdir -p $INSTALL_PREFIX/lib/linkerhand-cpp-sdk/x86_64
+        sudo cp -r lib/x86_64/* $INSTALL_PREFIX/lib/linkerhand-cpp-sdk/x86_64/
+        # 创建符号链接到标准库目录
+        for lib_file in lib/x86_64/*.so*; do
+            lib_name=$(basename $lib_file)
+            sudo ln -sf $INSTALL_PREFIX/lib/linkerhand-cpp-sdk/x86_64/$lib_name $INSTALL_PREFIX/lib/
+        done
+    elif [ "$ARCH" = "aarch64" ]; then
+        echo "安装 aarch64 库文件..."
+        sudo mkdir -p $INSTALL_PREFIX/lib/linkerhand-cpp-sdk/aarch64
+        sudo cp -r lib/aarch64/* $INSTALL_PREFIX/lib/linkerhand-cpp-sdk/aarch64/
+        # 创建符号链接到标准库目录
+        for lib_file in lib/aarch64/*.so*; do
+            lib_name=$(basename $lib_file)
+            sudo ln -sf $INSTALL_PREFIX/lib/linkerhand-cpp-sdk/aarch64/$lib_name $INSTALL_PREFIX/lib/
+        done
+    else
+        echo "不支持的架构: $ARCH"
+        exit 1
+    fi
+
+    # 更新动态链接库缓存
+    echo "更新动态链接库缓存..."
+    sudo ldconfig
+
+    echo "安装完成！"
+    echo ""
+    echo "使用示例："
+    echo "  编译: g++ -o test test.cpp -llinkerhand_cpp_sdk -I/usr/local/include/linkerhand-cpp-sdk"
+    echo "  运行: LD_LIBRARY_PATH=/usr/local/lib ./test"
+}
+
+function uninstall_sdk(){
+    sudo rm -rf $INSTALL_PREFIX/lib/linkerhand-cpp-sdk
+    sudo rm -rf $INSTALL_PREFIX/include/linkerhand-cpp-sdk
+    sudo rm -rf $INSTALL_PREFIX/lib/liblinkerhand_cpp_sdk.so*
+}
+
+function run_example(){
+    cd build; ./toolset_example
+}
+
+#------------------------------------------------ Select Menu ------------------------------------------
+
+function select_menu(){
+  cd $current_dir
+  echo -e "${GREEN}Please enter options: ${RESET}"
+  read -p "" select_num
+  case $select_num in
+      1)
+        echo "Build SDK"
+        build_sdk
+        ;;
+      2)
+      	echo "Install SDK"
+        build_sdk
+        install_sdk
+        ;;
+      3)
+        echo "Uninstall SDK"
+        uninstall_sdk
+        ;;
+      6)
+        echo "Execution Example"
+        run_example
+        ;;
+      0)
+        echo "Exit"
+        exit
+        ;;
+      *)
+        echo -e "${RED}Input error, please re-enter！${RESET}"
+        sleep 1
+        ;;
+  esac
+}
+
+#------------------------------------------------ Menu ------------------------------------------
+function show_Info(){
+  echo -e "${YELLOW}"
+  echo "================================================"
+  echo -e "${YELLOW} LinkerHand CPP-SDK  Version：${VERSION} ${RESET}"
+  echo -e "${YELLOW}================================================${RESET}"
+
+  echo -e "${GREEN}"
+  echo "RUN Choose Task:"
+  echo -e "${YELLOW}————————————————————————————————————————————————${RESET}"
+  echo -e "${BLUE}[1]: Build SDK${RESET}"
+  echo -e "${YELLOW}————————————————————————————————————————————————${RESET}"
+  echo -e "${BLUE}[2]: Install SDK${RESET}"
+  echo -e "${YELLOW}————————————————————————————————————————————————${RESET}"
+  echo -e "${BLUE}[3]: Uninstall SDK${RESET}"
+  echo -e "${YELLOW}————————————————————————————————————————————————${RESET}"
+  echo -e "${RED}[0]: Exit${RESET}"
+  echo -e "${YELLOW}————————————————————————————————————————————————${RESET}"
+  # sudo make DESTDIR=/home/lst/Desktop/install install
+}
+
+#------------------------------------------------ Init ------------------------------------------
+
+function Init()
+{
+    LoadedColor_information
+  	current_dir=$(pwd)
+    sleep 1
+}
+
+#------------------------------------------------ Main ------------------------------------------
+
+Init
+while true
+do
+    show_Info
+    select_menu
+done

skills/linkerhand-sdk-quickread/SKILL.md

+---
+name: linkerhand-sdk-quickread
+description: Use when working in the linkerhand-cpp-sdk repository and you need to quickly understand the project framework, locate the correct API layer, identify model-specific capabilities such as L6/L7/L10/L20/L25, or prepare for fast vibe-coding changes without rereading the whole repo.
+---
+
+# LinkerHand SDK Quick Read
+
+Use this skill when the task is to understand, modify, document, or extend this repository efficiently.
+
+## Goal
+
+Build a fast and accurate mental model of the SDK before editing code or writing docs.
+
+## Quick workflow
+
+1. Read the framework entry points first:
+   - `README.md`
+   - `CMakeLists.txt`
+   - `include/Common.h`
+   - `include/LinkerHandApi.h`
+   - `include/HandFactory.h`
+2. Identify the target model header:
+   - `include/LinkerHandL6.h`
+   - `include/LinkerHandL7.h`
+   - `include/LinkerHandL10.h`
+   - `include/LinkerHandL20.h`
+   - `include/LinkerHandL25.h`
+   - `include/ModbusLinkerHandL10.h`
+3. Read `include/IHand.h` to see which methods are truly common and which ones can throw `UnsupportedFeatureException`.
+4. Read usage examples:
+   - `src/main.cpp`
+   - `examples/toolset_example.cpp`
+   - `examples/action_group_show_l10.cpp`
+5. Read docs only as needed:
+   - `docs/API-Reference.md`
+   - `docs/TROUBLESHOOTING.md`
+   - `docs/FAQ.md`
+   - `docs/L6-Application-Development-Manual.md`
+   - `docs/L6-API-Development-Guide.md`
+6. If you need a compact structure map, read `references/project-map.md`.
+
+## What to conclude early
+
+Before making claims, answer these points:
+
+- Is the user asking about the public API layer or a model-specific layer?
+- Is the capability exposed by `LinkerHandApi`, or only by a concrete hand class?
+- Is the behavior visible in headers/docs/examples, or hidden inside the prebuilt `.so`?
+- Is the task about SDK usage, repository structure, or extending the SDK itself?
+
+## Repository facts that matter
+
+- The main public entry point is `LinkerHandApi`.
+- The factory layer is `HandFactory`.
+- Cross-model behavior is defined by `IHand`.
+- Model-specific features live in model headers.
+- A large part of the implementation is shipped as prebuilt libraries under `lib/x86_64/` and `lib/aarch64/`.
+- Tests mostly cover utility and framework pieces, not all device behaviors.
+
+## Working rules
+
+- Prefer `rg --files` and `rg -n` to locate structure and APIs quickly.
+- For API claims, trust headers first, examples second, docs third.
+- If a behavior is inferred from factory logic or declarations rather than implementation, label it as an inference.
+- When documenting or changing L6 behavior, explicitly separate:
+  - generic API behavior
+  - `L6Hand`-only behavior
+- If a task concerns communication setup, inspect both `HandFactory.h` and the relevant docs before editing.
+
+## Common command pattern
+
+Use fast reads instead of broad scans:
+
+```bash
+rg --files
+rg -n "LinkerHandApi|HandFactory|IHand|L6Hand|fingerMove|getForce"
+sed -n '1,220p' include/LinkerHandApi.h
+```
+
+## Output expectation
+
+When summarizing the repo, keep the summary in this order:
+
+1. Public API entry
+2. Factory and abstraction layers
+3. Model-specific headers
+4. Examples and docs
+5. Build/test layout
+6. Any relevant limitation or ambiguity

skills/linkerhand-sdk-quickread/references/project-map.md

+# LinkerHand-CPP-SDK 项目框架速查
+
+## 1. 顶层结构
+
+| 路径 | 作用 |
+|---|---|
+| `include/` | 对外头文件、类型声明、各型号接口 |
+| `examples/` | 示例程序，最适合确认典型调用方式 |
+| `docs/` | 使用文档、FAQ、故障排查、API 参考 |
+| `tests/` | 工具类与框架级测试 |
+| `lib/x86_64/` | x86_64 预编译动态库 |
+| `lib/aarch64/` | aarch64 预编译动态库 |
+| `src/main.cpp` | 最小示例入口 |
+| `CMakeLists.txt` | 构建、示例、安装、测试入口 |
+
+## 2. 代码分层
+
+```text
+LinkerHandApi
+  -> HandFactory
+      -> IHand
+          -> L6Hand / L7Hand / L10Hand / L20Hand / L25Hand / ModbusL10Hand
+```
+
+## 3. 关键文件优先级
+
+### 第一批必读
+
+- `README.md`
+- `CMakeLists.txt`
+- `include/Common.h`
+- `include/LinkerHandApi.h`
+- `include/HandFactory.h`
+
+### 第二批按任务读
+
+- 型号问题：读对应 `include/LinkerHandL*.h`
+- 能力边界问题：读 `include/IHand.h`
+- 使用问题：读 `examples/toolset_example.cpp`
+- 构建/排错问题：读 `docs/TROUBLESHOOTING.md`
+
+## 4. L6 相关速记
+
+- 型号头文件：`include/LinkerHandL6.h`
+- 6 个关节位置值
+- 支持速度、扭矩、加速度、故障、温度、触觉矩阵、版本信息
+- `L6Hand` 还声明了 `reHome`、版本读取、参数保存等专有能力
+- `LinkerHandApi` 是更高层的统一封装，不会暴露所有型号专有方法
+
+## 5. 仓库约束
+
+- 很多核心实现不在源码中，而在 `lib/*/liblinkerhand_cpp_sdk.so*`
+- 因此“接口存在”与“内部实现细节可见”是两件事
+- 对行为判断，优先级建议：
+  1. 头文件声明
+  2. 示例代码
+  3. 文档说明
+  4. 推断
+
+## 6. 常用定位命令
+
+```bash
+rg --files
+rg -n "LinkerHandApi|HandFactory|IHand|L6Hand"
+rg -n "fingerMove|getState|getForce|setAcceleration|reHome"
+sed -n '1,220p' include/LinkerHandL6.h
+```
+
+## 7. 构建与测试
+
+构建：
+
+```bash
+mkdir build
+cd build
+cmake ..
+make
+```
+
+测试：
+
+```bash
+cmake .. -DBUILD_TESTING=ON
+ctest --output-on-failure
+```
+
+注意：测试依赖 `googletest`，由 `tests/CMakeLists.txt` 通过 `FetchContent` 拉取。

src/main.cpp

+#include "LinkerHandApi.h"
+#include "ErrorCode.h"
+#include <algorithm>
+#include <chrono>
+#include <cstdint>
+#include <exception>
+#include <iostream>
+#include <thread>
+#include <vector>
+
+namespace {
+
+constexpr size_t kThumbFingerIndex = 0;
+constexpr size_t kIndexFingerIndex = 1;
+constexpr size_t kNormalForceSensorIndex = 0;
+constexpr uint8_t kReleaseForceThreshold = 80;
+constexpr auto kForcePollInterval = std::chrono::milliseconds(100);
+constexpr auto kForceWaitTimeout = std::chrono::seconds(8);
+
+uint8_t maxSensorValue(const std::vector<std::vector<std::vector<uint8_t>>> &force_data,
+                       size_t finger_index,
+                       size_t sensor_type_index) {
+    if (finger_index >= force_data.size()) {
+        return 0;
+    }
+    if (sensor_type_index >= force_data[finger_index].size()) {
+        return 0;
+    }
+
+    const auto &sensor_values = force_data[finger_index][sensor_type_index];
+    if (sensor_values.empty()) {
+        return 0;
+    }
+
+    return *std::max_element(sensor_values.begin(), sensor_values.end());
+}
+
+} // namespace
+
+int main() {
+
+    // 调用API接口
+    LinkerHandApi hand(LINKER_HAND::O6, HAND_TYPE::RIGHT, "can0", 1000000);
+
+    // 获取版本信息
+    std::cout << hand.getVersion() << std::endl;
+
+    // // 握拳
+    // std::vector<uint8_t> fist_pose = {255, 255, 0, 0, 0, 0};
+    // hand.fingerMove(fist_pose);
+    // std::this_thread::sleep_for(std::chrono::seconds(1));
+    //
+    // // 张开
+    // std::vector<uint8_t> open_pose = {255, 255, 255, 255, 255, 255};
+    // hand.fingerMove(open_pose);
+    // std::this_thread::sleep_for(std::chrono::seconds(1));
+ // O6/L6 关节常用映射（6 维关节向量）:
+    // joint1: 拇指对掌/侧摆
+    // joint2: 拇指根部弯曲
+    // joint3: 食指弯曲
+    // joint4: 中指弯曲
+    // joint5: 无名指弯曲
+    // joint6: 小指弯曲
+    //
+    // 你说的“五个”一般指五指通道：拇/食/中/无名/小指。
+    // 在 O6 中，拇指通常有 2 个关节自由度，所以关节总数是 6。
+
+    // 仅使用拇指和食指: 让中/无名/小指始终保持收拢（joint4~6 固定较小值）
+    // 注意: 0~255 的方向可能因机械装配有差异，以下值是可调模板。
+    std::vector<uint8_t> pre_grasp = {220, 170, 230, 20, 20, 20}; // 接近前，拇食张开
+    std::vector<uint8_t> pinch = {120, 90, 80, 20, 20, 20};       // 拇食闭合夹住
+    std::vector<uint8_t> hold = {120, 90, 90, 20, 20, 20};        // 保持抓取
+    std::vector<uint8_t> release = {220, 170, 230, 20, 20, 20};   // 松开
+    std::vector<uint8_t> safe_open = {255, 255, 255, 255, 255, 255};
+
+    // 可选：速度/力矩（如果你的固件支持该型号）
+    // 对 O6/L6 推荐使用 6 维；若你的设备固件要求 5 维，请按实际固件改。
+    std::vector<uint8_t> speed = {90, 90, 90, 90, 90, 90};
+    std::vector<uint8_t> torque = {255, 255, 255, 255, 255, 255};
+    hand.setSpeed(speed);
+    hand.setTorque(torque);
+
+    // 1) 预抓取：拇指+食指张开，其他三指保持收拢
+    hand.fingerMove(pre_grasp);
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+//    if (hasFault(hand.getFaultCode())) return 1;
+
+    // 2) 闭合夹取“水平盖”形状物体（两指对夹）
+    hand.fingerMove(pinch);
+    std::this_thread::sleep_for(std::chrono::milliseconds(500));
+//    if (hasFault(hand.getFaultCode())) return 1;
+
+    // 3) 保持并持续检测拇指/食指法向压力，超过阈值立即松手
+    hand.fingerMove(hold);
+    bool released_by_force = false;
+    const auto wait_deadline = std::chrono::steady_clock::now() + kForceWaitTimeout;
+
+    while (std::chrono::steady_clock::now() < wait_deadline) {
+        try {
+
+            const auto force_data = hand.getForce();
+            const uint8_t thumb_force = maxSensorValue(force_data, kThumbFingerIndex, kNormalForceSensorIndex);
+            const uint8_t index_force = maxSensorValue(force_data, kIndexFingerIndex, kNormalForceSensorIndex);
+
+            std::cout << "Thumb normal force: " << static_cast<int>(thumb_force)
+                      << ", index normal force: " << static_cast<int>(index_force) << std::endl;
+
+            if (thumb_force >= kReleaseForceThreshold || index_force >= kReleaseForceThreshold) {
+                std::cout << "Force threshold reached, releasing object." << std::endl;
+                hand.fingerMove(release);
+                released_by_force = true;
+                break;
+            }
+        } catch (const linkerhand::UnsupportedFeatureException &e) {
+            std::cerr << "Force feedback is not supported on this hand: " << e.what() << std::endl;
+            break;
+        } catch (const std::exception &e) {
+            std::cerr << "Failed to read force data: " << e.what() << std::endl;
+            break;
+        }
+
+        std::this_thread::sleep_for(kForcePollInterval);
+    }
+
+    if (!released_by_force) {
+        std::cout << "Force threshold was not reached before timeout, releasing object." << std::endl;
+        hand.fingerMove(release);
+    }
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+
+    // 4) 回到安全张开位
+    hand.fingerMove(safe_open);
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+
+    std::cout << "Done: thumb-index pick and force-triggered release sequence finished." << std::endl;
+    return 0;
+}

tests/CMakeLists.txt

+# 测试配置
+# 只有在启用测试时才构建测试
+
+if(BUILD_TESTING)
+    # 查找或下载 Google Test
+    include(FetchContent)
+    FetchContent_Declare(
+        googletest
+        URL https://github.com/google/googletest/archive/refs/tags/v1.17.0.zip
+        # GIT_REPOSITORY https://github.com/google/googletest.git
+        # GIT_TAG v1.17.0
+    )
+    # 对于 Windows: 防止覆盖父项目的编译器/链接器设置
+    set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
+    FetchContent_MakeAvailable(googletest)
+
+    # 启用测试
+    enable_testing()
+
+    # 包含目录
+    include_directories(
+        ${CMAKE_CURRENT_SOURCE_DIR}/../include
+        ${LINKER_HAND_INCLUDE_DIR}
+    )
+
+    # 测试可执行文件列表
+    set(TEST_SOURCES
+        ${CMAKE_CURRENT_SOURCE_DIR}/unit/test_Common.cpp
+        ${CMAKE_CURRENT_SOURCE_DIR}/unit/test_RangeToArc.cpp
+        ${CMAKE_CURRENT_SOURCE_DIR}/unit/test_IHand_Utils.cpp
+        ${CMAKE_CURRENT_SOURCE_DIR}/unit/test_CanFrame.cpp
+    )
+
+    # 为每个测试文件创建可执行文件
+    foreach(TEST_SOURCE ${TEST_SOURCES})
+        # 获取测试名称（从路径中提取）
+        get_filename_component(TEST_NAME ${TEST_SOURCE} NAME_WE)
+        
+        # 创建测试可执行文件
+        add_executable(${TEST_NAME} ${TEST_SOURCE})
+        
+        # 链接库
+        target_link_libraries(${TEST_NAME}
+            PRIVATE
+            gtest
+            gtest_main
+            pthread
+        )
+        
+        # 如果测试需要 SDK 库，链接它
+        # RangeToArc 函数在 SDK 库中实现
+        if(TEST_SOURCE MATCHES "test_RangeToArc|test_LinkerHandApi|test_Hand")
+            target_link_libraries(${TEST_NAME}
+                PRIVATE
+                ${LINKER_HAND_LIB}
+            )
+        endif()
+        
+        # 注册测试
+        add_test(NAME ${TEST_NAME} COMMAND ${TEST_NAME})
+        
+        # 设置测试属性
+        set_tests_properties(${TEST_NAME} PROPERTIES
+            TIMEOUT 60
+        )
+    endforeach()
+
+    # 创建运行所有测试的便捷目标
+    add_custom_target(run_tests
+        COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure
+        DEPENDS ${TEST_SOURCES}
+        WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+        COMMENT "Running all tests"
+    )
+endif()
+

tests/README.md

+# 测试说明
+
+本目录包含 LinkerHand-CPP-SDK 的单元测试。本文档介绍如何构建、运行测试，以及如何添加新测试。
+
+## 目录
+
+- [测试结构](#测试结构)
+- [构建测试](#构建测试)
+- [运行测试](#运行测试)
+- [测试覆盖范围](#测试覆盖范围)
+- [测试用例详解](#测试用例详解)
+- [添加新测试](#添加新测试)
+- [测试最佳实践](#测试最佳实践)
+- [故障排查](#故障排查)
+- [更多信息](#更多信息)
+
+---
+
+## 测试结构
+
+```
+tests/
+├── unit/                    # 单元测试
+│   ├── test_Common.cpp      # Common.h 的测试
+│   ├── test_RangeToArc.cpp  # RangeToArc.h 的测试
+│   ├── test_IHand_Utils.cpp # IHand 工具函数的测试
+│   └── test_CanFrame.cpp    # CanFrame 的测试
+├── CMakeLists.txt           # 测试构建配置
+└── README.md                # 本文件
+```
+
+---
+
+## 构建测试
+
+### 方法一：使用 CMake 构建（推荐）
+
+```bash
+# 在项目根目录
+mkdir build && cd build
+cmake .. -DBUILD_TESTING=ON
+make
+```
+
+**说明**:
+- `-DBUILD_TESTING=ON` 启用测试构建（默认已启用）
+- CMake 会自动下载 Google Test 框架（如果未安装）
+- 确保网络连接正常，以便下载依赖
+- **注意**: 项目要求 CMake 3.15 或更高版本
+
+### 方法二：禁用测试
+
+如果不想构建测试：
+
+```bash
+cmake .. -DBUILD_TESTING=OFF
+```
+
+或者不设置 `BUILD_TESTING` 选项（默认为 ON）。
+
+### 方法三：仅构建测试（不构建主项目）
+
+```bash
+cd build
+cmake .. -DBUILD_TESTING=ON
+make test_Common test_RangeToArc test_IHand_Utils test_CanFrame
+```
+
+---
+
+## 运行测试
+
+### 运行所有测试
+
+```bash
+cd build
+ctest
+```
+
+**输出示例**:
+```
+Test project /path/to/build
+    Start 1: test_Common
+1/4 Test #1: test_Common ...................   Passed    0.01 sec
+    Start 2: test_RangeToArc
+2/4 Test #2: test_RangeToArc ...............   Passed    0.02 sec
+    Start 3: test_IHand_Utils
+3/4 Test #3: test_IHand_Utils ..............   Passed    0.01 sec
+    Start 4: test_CanFrame
+4/4 Test #4: test_CanFrame ..................   Passed    0.01 sec
+
+100% tests passed, 0 tests failed out of 4
+```
+
+### 运行所有测试（显示详细输出）
+
+```bash
+cd build
+ctest --output-on-failure
+```
+
+**说明**: 仅当测试失败时显示详细输出，成功时不显示。
+
+### 运行所有测试（详细模式）
+
+```bash
+cd build
+ctest -V
+# 或
+ctest --verbose
+```
+
+**说明**: 显示所有测试的详细输出，包括成功的测试。
+
+### 运行特定测试
+
+```bash
+cd build
+# 运行 test_Common
+ctest -R test_Common
+
+# 运行多个测试（使用正则表达式）
+ctest -R "test_Common|test_RangeToArc"
+```
+
+### 并行运行测试
+
+```bash
+cd build
+# 使用 4 个并行任务
+ctest -j4
+
+# 使用所有可用 CPU 核心
+ctest -j$(nproc)
+```
+
+**说明**: 并行运行可以加快测试速度，特别是测试较多时。
+
+### 直接运行测试可执行文件
+
+```bash
+cd build
+./test_Common
+./test_RangeToArc
+./test_IHand_Utils
+./test_CanFrame
+```
+
+**说明**: 直接运行可执行文件可以看到更详细的输出，包括 Google Test 的详细日志。
+
+### 使用便捷目标
+
+```bash
+cd build
+make run_tests
+```
+
+**说明**: 如果 CMakeLists.txt 中定义了 `run_tests` 目标，可以使用此命令。
+
+---
+
+## 测试覆盖范围
+
+### test_Common.cpp
+
+**测试内容**: Common.h 中的枚举和类型定义
+
+**测试用例**:
+- ✅ `LINKER_HAND` 枚举值测试
+  - 验证所有型号枚举值（O6, L6, L7, L10, L20, L21, L25）
+- ✅ `HAND_TYPE` 枚举值测试
+  - 验证左手和右手枚举值
+- ✅ `COMM_TYPE` 枚举值测试
+  - 验证所有通信类型枚举值
+- ✅ `Common` 命名空间版本号测试
+  - 验证版本号定义
+- ✅ 参数化测试
+  - 使用 Google Test 参数化测试测试多个值
+
+**示例测试**:
+```cpp
+TEST(CommonTest, LinkerHandEnum) {
+    EXPECT_EQ(LINKER_HAND::O6, 0);
+    EXPECT_EQ(LINKER_HAND::L6, 1);
+    // ...
+}
+```
+
+---
+
+### test_RangeToArc.cpp
+
+**测试内容**: RangeToArc.h 中的转换函数
+
+**测试用例**:
+- ✅ `is_within_range()` 函数测试
+  - 测试值是否在有效范围内
+  - 边界值测试
+- ✅ `scale_value()` 函数测试
+  - 测试值缩放功能
+  - 边界情况测试
+- ✅ `should_skip_joint()` 函数测试
+  - 测试关节跳过逻辑
+- ✅ `initialize_params()` 函数测试
+  - 测试参数初始化
+- ✅ `range_to_arc()` 函数测试
+  - 测试从 0-255 范围转换为弧度
+  - 不同型号的转换测试
+- ✅ `arc_to_range()` 函数测试
+  - 测试从弧度转换为 0-255 范围
+- ✅ 往返转换测试
+  - 测试 `range_to_arc()` 和 `arc_to_range()` 的往返一致性
+- ✅ 边界值测试
+  - 测试最小值（0）、最大值（255）、中间值（128）
+- ✅ 不同型号测试
+  - 测试 L10、L20、L21、L25 等不同型号的转换
+
+**示例测试**:
+```cpp
+TEST(RangeToArcTest, RangeToArcConversion) {
+    double arc = range_to_arc(128, LINKER_HAND::L10, 0);
+    EXPECT_NEAR(arc, expected_value, 0.001);
+}
+```
+
+---
+
+### test_IHand_Utils.cpp
+
+**测试内容**: IHand 工具函数
+
+**测试用例**:
+- ✅ `getSubVector()` 单参数版本测试
+  - 测试从向量中提取子向量
+  - 边界情况测试（空向量、越界等）
+- ✅ `getSubVector()` 双参数版本测试
+  - 测试指定起始和结束位置的子向量提取
+- ✅ `getCurrentTime()` 函数测试
+  - 测试时间获取功能
+  - 时间格式验证
+- ✅ 边界情况测试
+  - 空向量、单元素向量、越界访问等
+
+**示例测试**:
+```cpp
+TEST(IHandUtilsTest, GetSubVector) {
+    std::vector<uint8_t> vec = {1, 2, 3, 4, 5};
+    auto sub = getSubVector(vec, 1, 3);
+    EXPECT_EQ(sub.size(), 2);
+    EXPECT_EQ(sub[0], 2);
+    EXPECT_EQ(sub[1], 3);
+}
+```
+
+---
+
+### test_CanFrame.cpp
+
+**测试内容**: CanFrame.h 中的 CAN 帧结构
+
+**测试用例**:
+- ✅ CANFrame 结构体测试
+  - 结构体大小和布局验证
+- ✅ 数据设置和读取测试
+  - 测试数据的设置和读取功能
+- ✅ 边界值测试
+  - 测试最小值和最大值
+- ✅ ID 范围测试
+  - 测试有效的 CAN ID 范围
+- ✅ 数据复制测试
+  - 测试数据复制和移动语义
+
+**示例测试**:
+```cpp
+TEST(CanFrameTest, DataSetting) {
+    CanFrame frame;
+    frame.setData({0x01, 0x02, 0x03, 0x04});
+    auto data = frame.getData();
+    EXPECT_EQ(data.size(), 4);
+    EXPECT_EQ(data[0], 0x01);
+}
+```
+
+---
+
+## 测试用例详解
+
+### 测试命名规范
+
+测试用例使用 Google Test 的命名规范：
+- 测试套件名：描述被测试的模块（如 `CommonTest`、`RangeToArcTest`）
+- 测试用例名：描述具体的测试内容（如 `LinkerHandEnum`、`RangeToArcConversion`）
+
+### 测试类型
+
+1. **单元测试**: 测试单个函数或类的功能
+2. **参数化测试**: 使用 `TEST_P` 测试多个输入值
+3. **边界测试**: 测试边界值和极端情况
+4. **集成测试**: 测试多个组件的交互（当前未包含）
+
+### 测试覆盖率
+
+当前测试覆盖：
+- ✅ 核心工具函数（Common、RangeToArc、IHand Utils）
+- ✅ 数据结构（CanFrame）
+- ⚠️ API 函数（部分覆盖，需要硬件支持）
+- ❌ 通信层（需要硬件支持）
+- ❌ 端到端测试（需要硬件支持）
+
+---
+
+## 添加新测试
+
+### 步骤 1: 创建测试文件
+
+在 `tests/unit/` 目录下创建新的测试文件，例如 `test_NewFeature.cpp`:
+
+```cpp
+#include <gtest/gtest.h>
+#include "NewFeature.h"
+
+TEST(NewFeatureTest, BasicFunctionality) {
+    // 测试代码
+    EXPECT_EQ(expected, actual);
+}
+```
+
+### 命名规范说明
+
+在编写测试时，请注意以下命名规范：
+
+1. **使用新的命名空间**（推荐）:
+```cpp
+#include "LinkerHandL10.h"
+#include "HandFactory.h"
+
+TEST(HandTest, L10HandCreation) {
+    using namespace linkerhand;
+    auto hand = factory::HandFactory::createHand(
+        LINKER_HAND::L10,
+        HAND_TYPE::RIGHT,
+        COMM_CAN_0
+    );
+    // 测试代码
+}
+```
+
+2. **向后兼容的旧命名**（可用但不推荐）:
+```cpp
+#include "LinkerHandL10.h"
+
+TEST(HandTest, L10HandCreation) {
+    // 旧命名仍然可用，但建议使用新命名
+    LinkerHandL10::LinkerHand hand(0x27, "can0", 1000000);
+    // 测试代码
+}
+```
+
+3. **接口测试**:
+```cpp
+#include "IHand.h"
+
+TEST(IHandTest, InterfaceTest) {
+    // 使用正确的命名空间
+    class TestHand : public linkerhand::hand::IHand {
+        // 实现接口
+    };
+    // 测试代码
+}
+```
+
+更多关于命名规范的详细信息，请参考 [命名规范改进文档](../docs/NAMING_IMPROVEMENTS.md)。
+
+### 步骤 2: 更新 CMakeLists.txt
+
+在 `tests/CMakeLists.txt` 的 `TEST_SOURCES` 列表中添加新文件：
+
+```cmake
+set(TEST_SOURCES
+    unit/test_Common.cpp
+    unit/test_RangeToArc.cpp
+    unit/test_IHand_Utils.cpp
+    unit/test_CanFrame.cpp
+    unit/test_NewFeature.cpp  # 添加新文件
+)
+```
+
+### 步骤 3: 配置链接（如需要）
+
+如果测试需要链接 SDK 库或其他库，在 CMakeLists.txt 中添加：
+
+```cmake
+target_link_libraries(test_NewFeature 
+    ${LINKER_HAND_LIB}  # 如果需要链接 SDK 库
+    pthread
+)
+```
+
+### 步骤 4: 重新构建和运行
+
+```bash
+cd build
+cmake ..
+make
+ctest -R test_NewFeature
+```
+
+---
+
+## 测试最佳实践
+
+### 1. 测试独立性
+
+每个测试应该独立，不依赖其他测试：
+
+```cpp
+// ✅ 好的做法
+TEST(MyTest, Test1) {
+    // 独立的测试代码
+}
+
+// ❌ 不好的做法
+TEST(MyTest, Test2) {
+    // 依赖 Test1 的结果
+}
+```
+
+### 2. 描述性命名
+
+使用描述性的测试名称：
+
+```cpp
+// ✅ 好的做法
+TEST(RangeToArcTest, ConvertsZeroToMinimumArc)
+
+// ❌ 不好的做法
+TEST(RangeToArcTest, Test1)
+```
+
+### 3. 测试多种情况
+
+测试正常情况、边界情况和错误情况：
+
+```cpp
+TEST(MyTest, NormalCase) {
+    // 正常情况
+}
+
+TEST(MyTest, BoundaryCase) {
+    // 边界值（0, 255, 最大值等）
+}
+
+TEST(MyTest, ErrorCase) {
+    // 错误情况（无效输入等）
+}
+```
+
+### 4. 使用参数化测试
+
+对于需要测试多个输入值的情况，使用参数化测试：
+
+```cpp
+class RangeToArcParamTest : public ::testing::TestWithParam<int> {};
+
+TEST_P(RangeToArcParamTest, ConvertsCorrectly) {
+    int input = GetParam();
+    // 测试代码
+}
+
+INSTANTIATE_TEST_SUITE_P(
+    RangeValues,
+    RangeToArcParamTest,
+    ::testing::Values(0, 128, 255)
+);
+```
+
+### 5. 保持测试简洁
+
+测试代码应该简洁、可读：
+
+```cpp
+// ✅ 好的做法
+TEST(MyTest, SimpleTest) {
+    int result = function(5);
+    EXPECT_EQ(result, 10);
+}
+
+// ❌ 不好的做法
+TEST(MyTest, ComplexTest) {
+    // 100 行复杂的测试代码
+}
+```
+
+### 6. 使用适当的断言
+
+选择合适的断言：
+
+```cpp
+EXPECT_EQ(a, b);      // 相等
+EXPECT_NE(a, b);      // 不相等
+EXPECT_NEAR(a, b, 0.001);  // 浮点数近似相等
+EXPECT_TRUE(condition);    // 为真
+EXPECT_FALSE(condition);   // 为假
+EXPECT_THROW(statement, ExceptionType);  // 抛出异常
+```
+
+---
+
+## 故障排查
+
+### 问题 1: 找不到 Google Test
+
+**错误信息**:
+```
+Could not find gtest
+```
+
+**解决方案**:
+1. CMake 会自动下载 Google Test，确保网络连接正常
+2. 如果网络有问题，可以手动安装 Google Test：
+   ```bash
+   # Ubuntu/Debian
+   sudo apt-get install libgtest-dev
+   ```
+3. 检查 CMake 版本（需要 3.15+）
+
+---
+
+### 问题 2: 链接错误
+
+**错误信息**:
+```
+undefined reference to `...`
+```
+
+**解决方案**:
+1. **检查 SDK 库是否正确找到**:
+   ```bash
+   ls -la lib/x86_64/liblinkerhand_cpp_sdk.so
+   ```
+
+2. **检查测试是否需要链接 SDK 库**:
+   - 如果测试需要链接 SDK 库，在 `tests/CMakeLists.txt` 中添加：
+     ```cmake
+     target_link_libraries(test_name ${LINKER_HAND_LIB} pthread)
+     ```
+
+3. **检查库路径**:
+   ```cmake
+   find_library(LINKER_HAND_LIB
+       NAMES linkerhand_cpp_sdk
+       PATHS ${CMAKE_CURRENT_SOURCE_DIR}/../lib/x86_64
+   )
+   ```
+
+---
+
+### 问题 3: 测试失败
+
+**错误信息**:
+```
+Test failed: ...
+```
+
+**解决方案**:
+1. **查看详细输出**:
+   ```bash
+   ctest --output-on-failure
+   ```
+
+2. **直接运行测试可执行文件**:
+   ```bash
+   ./test_Common
+   ```
+   这样可以查看更详细的错误信息。
+
+3. **检查测试代码**:
+   - 验证测试逻辑是否正确
+   - 检查期望值是否正确
+
+4. **检查 SDK 库版本**:
+   - 确保使用的 SDK 库版本与测试代码匹配
+   - 检查是否有 API 变更
+
+5. **检查环境**:
+   - 确保测试环境正确配置
+   - 检查依赖项是否完整
+
+---
+
+### 问题 4: 测试运行缓慢
+
+**可能原因**:
+- 测试数量多
+- 测试包含耗时操作
+- 系统负载高
+
+**解决方案**:
+1. **并行运行测试**:
+   ```bash
+   ctest -j4
+   ```
+
+2. **优化测试代码**:
+   - 减少不必要的操作
+   - 使用 mock 对象替代真实对象
+
+3. **选择性运行测试**:
+   ```bash
+   ctest -R test_Common  # 只运行特定测试
+   ```
+
+---
+
+### 问题 5: CMake 配置错误
+
+**错误信息**:
+```
+CMake Error: ...
+```
+
+**解决方案**:
+1. **清理构建目录**:
+   ```bash
+   rm -rf build
+   mkdir build && cd build
+   ```
+
+2. **检查 CMake 版本**:
+   ```bash
+   cmake --version  # 需要 3.15+
+   ```
+
+3. **检查 CMakeLists.txt 语法**:
+   - 确保语法正确
+   - 检查变量名和路径
+
+---
+
+## 更多信息
+
+### 相关文档
+
+- **详细测试文档**: [测试文档](../docs/TESTING.md)（如果存在）
+- **API 参考**: [API 参考文档](../docs/API-Reference.md)
+- **故障排查**: [故障排查指南](../docs/TROUBLESHOOTING.md)
+- **常见问题**: [常见问题解答](../docs/FAQ.md)
+- **命名规范**: [命名规范改进文档](../docs/NAMING_IMPROVEMENTS.md)
+
+### Google Test 文档
+
+- [Google Test 官方文档](https://google.github.io/googletest/)
+- [Google Test Primer](https://google.github.io/googletest/primer.html)
+- [Google Test Advanced](https://google.github.io/googletest/advanced.html)
+
+### 测试工具
+
+- **ctest**: CMake 测试运行器
+- **gtest**: Google Test 框架
+- **valgrind**: 内存检查工具（可选）
+- **gcov/lcov**: 代码覆盖率工具（可选）
+
+---
+
+## 贡献测试
+
+欢迎贡献新的测试用例！在添加新测试时，请：
+
+1. 遵循测试最佳实践
+2. 确保测试独立且可重复
+3. 添加适当的注释和文档
+4. 运行所有测试确保没有破坏现有功能
+5. 提交 Pull Request
+
+如有问题，请参考 [故障排查指南](../docs/TROUBLESHOOTING.md) 或联系技术支持。
\ No newline at end of file

tests/run_tests.sh

+#!/bin/bash
+
+# 测试运行脚本
+# 用法: ./run_tests.sh [build_dir]
+
+set -e
+
+# 获取构建目录，默认为 ../build
+BUILD_DIR=${1:-../build}
+
+# 检查构建目录是否存在
+if [ ! -d "$BUILD_DIR" ]; then
+    echo "错误: 构建目录 '$BUILD_DIR' 不存在"
+    echo "请先运行: mkdir build && cd build && cmake .. -DBUILD_TESTING=ON && make"
+    exit 1
+fi
+
+# 进入构建目录
+cd "$BUILD_DIR"
+
+# 检查是否启用了测试
+if [ ! -f "CMakeCache.txt" ]; then
+    echo "错误: CMakeCache.txt 不存在，请先运行 cmake"
+    exit 1
+fi
+
+# 运行测试
+echo "运行所有测试..."
+echo "=========================================="
+ctest --output-on-failure
+
+echo ""
+echo "=========================================="
+echo "测试完成！"
+

tests/unit/test_CanFrame.cpp

+#include <gtest/gtest.h>
+#include "CanFrame.h"
+#include <cstring>
+
+// 测试 CANFrame 结构体
+TEST(CanFrameTest, CANFrameStructure) {
+    CANFrame frame;
+    
+    // 初始化测试
+    frame.can_id = 0x123;
+    frame.can_dlc = 8;
+    memset(frame.data, 0, sizeof(frame.data));
+    
+    // 验证结构体成员
+    EXPECT_EQ(frame.can_id, 0x123);
+    EXPECT_EQ(frame.can_dlc, 8);
+    
+    // 验证数据数组大小
+    EXPECT_EQ(sizeof(frame.data), 8);
+}
+
+// 测试 CANFrame 数据设置和读取
+TEST(CanFrameTest, CANFrameData) {
+    CANFrame frame;
+    
+    frame.can_id = 0x456;
+    frame.can_dlc = 4;
+    
+    // 设置数据
+    frame.data[0] = 0x01;
+    frame.data[1] = 0x02;
+    frame.data[2] = 0x03;
+    frame.data[3] = 0x04;
+    
+    // 验证数据
+    EXPECT_EQ(frame.data[0], 0x01);
+    EXPECT_EQ(frame.data[1], 0x02);
+    EXPECT_EQ(frame.data[2], 0x03);
+    EXPECT_EQ(frame.data[3], 0x04);
+    
+    // 验证 can_dlc 与实际数据长度一致
+    EXPECT_EQ(frame.can_dlc, 4);
+}
+
+// 测试 CANFrame 边界值
+TEST(CanFrameTest, CANFrameBoundaries) {
+    CANFrame frame;
+    
+    // 测试最大 can_dlc
+    frame.can_dlc = 8;
+    for (int i = 0; i < 8; ++i) {
+        frame.data[i] = static_cast<uint8_t>(i);
+    }
+    
+    EXPECT_EQ(frame.can_dlc, 8);
+    for (int i = 0; i < 8; ++i) {
+        EXPECT_EQ(frame.data[i], static_cast<uint8_t>(i));
+    }
+    
+    // 测试最小 can_dlc
+    frame.can_dlc = 0;
+    EXPECT_EQ(frame.can_dlc, 0);
+    
+    // 测试 can_dlc = 1
+    frame.can_dlc = 1;
+    frame.data[0] = 0xFF;
+    EXPECT_EQ(frame.can_dlc, 1);
+    EXPECT_EQ(frame.data[0], 0xFF);
+}
+
+// 测试 CANFrame 的 can_id 范围
+TEST(CanFrameTest, CANFrameIdRange) {
+    CANFrame frame;
+    
+    // 测试标准 CAN ID (11位，0-0x7FF)
+    frame.can_id = 0x000;
+    EXPECT_EQ(frame.can_id, 0x000);
+    
+    frame.can_id = 0x7FF;
+    EXPECT_EQ(frame.can_id, 0x7FF);
+    
+    // 测试扩展 CAN ID (29位，可以更大)
+    frame.can_id = 0x1FFFFFFF;
+    EXPECT_EQ(frame.can_id, 0x1FFFFFFF);
+    
+    // 测试常见 ID 值
+    frame.can_id = 0x123;
+    EXPECT_EQ(frame.can_id, 0x123);
+}
+
+// 测试 CANFrame 数据清零
+TEST(CanFrameTest, CANFrameDataZero) {
+    CANFrame frame;
+    
+    frame.can_id = 0x789;
+    frame.can_dlc = 8;
+    
+    // 设置一些数据
+    memset(frame.data, 0xFF, sizeof(frame.data));
+    
+    // 清零数据
+    memset(frame.data, 0, sizeof(frame.data));
+    
+    // 验证所有数据都是 0
+    for (int i = 0; i < 8; ++i) {
+        EXPECT_EQ(frame.data[i], 0);
+    }
+}
+
+// 测试 CANFrame 数据复制
+TEST(CanFrameTest, CANFrameDataCopy) {
+    CANFrame frame1, frame2;
+    
+    // 设置 frame1
+    frame1.can_id = 0xABC;
+    frame1.can_dlc = 5;
+    for (int i = 0; i < 5; ++i) {
+        frame1.data[i] = static_cast<uint8_t>(0x10 + i);
+    }
+    
+    // 复制到 frame2
+    frame2.can_id = frame1.can_id;
+    frame2.can_dlc = frame1.can_dlc;
+    memcpy(frame2.data, frame1.data, frame1.can_dlc);
+    
+    // 验证复制结果
+    EXPECT_EQ(frame2.can_id, frame1.can_id);
+    EXPECT_EQ(frame2.can_dlc, frame1.can_dlc);
+    for (int i = 0; i < 5; ++i) {
+        EXPECT_EQ(frame2.data[i], frame1.data[i]);
+    }
+}
+
+// 测试 CANFrame 结构体大小
+TEST(CanFrameTest, CANFrameSize) {
+    CANFrame frame;
+    
+    // 验证结构体大小合理（can_id + can_dlc + data[8] + 可能的填充）
+    size_t expected_min_size = sizeof(uint32_t) + sizeof(uint8_t) + 8;
+    EXPECT_GE(sizeof(frame), expected_min_size);
+    
+    // 验证数据数组确实是 8 字节
+    EXPECT_EQ(sizeof(frame.data), 8);
+}
+

tests/unit/test_Common.cpp

+#include <gtest/gtest.h>
+#include "Common.h"
+
+// 测试 LINKER_HAND 枚举值
+TEST(CommonTest, LinkerHandEnumValues) {
+    // 验证枚举值是否正确定义
+    EXPECT_EQ(static_cast<int>(O6), 0);
+    EXPECT_EQ(static_cast<int>(L6), 1);
+    EXPECT_EQ(static_cast<int>(L7), 2);
+    EXPECT_EQ(static_cast<int>(L10), 3);
+    EXPECT_EQ(static_cast<int>(L20), 4);
+    EXPECT_EQ(static_cast<int>(L21), 5);
+    EXPECT_EQ(static_cast<int>(L25), 6);
+}
+
+// 测试 HAND_TYPE 枚举值
+TEST(CommonTest, HandTypeEnumValues) {
+    EXPECT_EQ(static_cast<uint32_t>(LEFT), 0x28);
+    EXPECT_EQ(static_cast<uint32_t>(RIGHT), 0x27);
+    
+    // 验证左右手类型不同
+    EXPECT_NE(LEFT, RIGHT);
+}
+
+// 测试 COMM_TYPE 枚举值
+TEST(CommonTest, CommTypeEnumValues) {
+    EXPECT_EQ(static_cast<int>(COMM_CAN_0), 0);
+    EXPECT_EQ(static_cast<int>(COMM_CAN_1), 1);
+    EXPECT_EQ(static_cast<int>(COMM_MODBUS), 2);
+    EXPECT_EQ(static_cast<int>(COMM_ETHERCAT), 3);
+}
+
+// 测试 Common 命名空间中的版本号
+TEST(CommonTest, CurrentHandVersion) {
+    EXPECT_GT(linkerhand::Common::current_hand_version, 0.0f);
+    EXPECT_LE(linkerhand::Common::current_hand_version, 10.0f); // 合理的版本号范围
+}
+
+// 测试枚举值的类型转换
+TEST(CommonTest, EnumTypeConversions) {
+    LINKER_HAND hand = L10;
+    HAND_TYPE type = RIGHT;
+    COMM_TYPE comm = COMM_CAN_0;
+    
+    EXPECT_EQ(hand, L10);
+    EXPECT_EQ(type, RIGHT);
+    EXPECT_EQ(comm, COMM_CAN_0);
+}
+
+// 参数化测试：测试所有 LINKER_HAND 类型
+class LinkerHandTypeTest : public ::testing::TestWithParam<LINKER_HAND> {};
+
+TEST_P(LinkerHandTypeTest, ValidHandTypes) {
+    LINKER_HAND hand = GetParam();
+    // 验证是有效的枚举值
+    EXPECT_GE(static_cast<int>(hand), 0);
+    EXPECT_LE(static_cast<int>(hand), 6);
+}
+
+INSTANTIATE_TEST_SUITE_P(
+    AllHandTypes,
+    LinkerHandTypeTest,
+    ::testing::Values(O6, L6, L7, L10, L20, L21, L25)
+);
+
+// 参数化测试：测试所有 COMM_TYPE 类型
+class CommTypeTest : public ::testing::TestWithParam<COMM_TYPE> {};
+
+TEST_P(CommTypeTest, ValidCommTypes) {
+    COMM_TYPE comm = GetParam();
+    // 验证是有效的枚举值
+    EXPECT_GE(static_cast<int>(comm), 0);
+    EXPECT_LE(static_cast<int>(comm), 3);
+}
+
+INSTANTIATE_TEST_SUITE_P(
+    AllCommTypes,
+    CommTypeTest,
+    ::testing::Values(COMM_CAN_0, COMM_CAN_1, COMM_MODBUS, COMM_ETHERCAT)
+);
+

tests/unit/test_IHand_Utils.cpp

+#include <gtest/gtest.h>
+#include "IHand.h"
+#include <vector>
+#include <chrono>
+#include <thread>
+
+// 创建一个测试用的 IHand 实现类
+class TestHand : public linkerhand::hand::IHand {
+public:
+    void setJointPositions(const std::vector<uint8_t> &jointAngles) override {
+        (void)jointAngles;
+    }
+};
+
+// 测试 getSubVector 函数（单参数版本）
+TEST(IHandUtilsTest, GetSubVectorSingleArg) {
+    TestHand hand;
+    
+    // 测试正常情况
+    std::vector<uint8_t> vec = {0, 1, 2, 3, 4, 5};
+    std::vector<uint8_t> result = hand.getSubVector(vec);
+    
+    EXPECT_EQ(result.size(), 5);
+    EXPECT_EQ(result[0], 1);
+    EXPECT_EQ(result[1], 2);
+    EXPECT_EQ(result[4], 5);
+    
+    // 测试只有一个元素的情况
+    std::vector<uint8_t> vec_single = {0};
+    std::vector<uint8_t> result_single = hand.getSubVector(vec_single);
+    EXPECT_TRUE(result_single.empty());
+    
+    // 测试空向量
+    std::vector<uint8_t> vec_empty = {};
+    std::vector<uint8_t> result_empty = hand.getSubVector(vec_empty);
+    EXPECT_TRUE(result_empty.empty());
+    
+    // 测试两个元素的情况
+    std::vector<uint8_t> vec_two = {0, 1};
+    std::vector<uint8_t> result_two = hand.getSubVector(vec_two);
+    EXPECT_EQ(result_two.size(), 1);
+    EXPECT_EQ(result_two[0], 1);
+}
+
+// 测试 getSubVector 函数（双参数版本）
+TEST(IHandUtilsTest, GetSubVectorDoubleArg) {
+    TestHand hand;
+    
+    // 测试正常情况
+    std::vector<uint8_t> vec1 = {0, 1, 2, 3};
+    std::vector<uint8_t> vec2 = {0, 4, 5, 6};
+    std::vector<uint8_t> result = hand.getSubVector(vec1, vec2);
+    
+    EXPECT_EQ(result.size(), 6); // 3 + 3
+    EXPECT_EQ(result[0], 1);
+    EXPECT_EQ(result[1], 2);
+    EXPECT_EQ(result[2], 3);
+    EXPECT_EQ(result[3], 4);
+    EXPECT_EQ(result[4], 5);
+    EXPECT_EQ(result[5], 6);
+    
+    // 测试一个向量只有一个元素
+    std::vector<uint8_t> vec_single = {0};
+    std::vector<uint8_t> vec_normal = {0, 1, 2};
+    std::vector<uint8_t> result_mixed = hand.getSubVector(vec_single, vec_normal);
+    EXPECT_EQ(result_mixed.size(), 2); // 0 + 2
+    EXPECT_EQ(result_mixed[0], 1);
+    EXPECT_EQ(result_mixed[1], 2);
+    
+    // 测试两个向量都只有一个元素
+    std::vector<uint8_t> vec1_single = {0};
+    std::vector<uint8_t> vec2_single = {0};
+    std::vector<uint8_t> result_both_single = hand.getSubVector(vec1_single, vec2_single);
+    EXPECT_TRUE(result_both_single.empty());
+    
+    // 测试空向量
+    std::vector<uint8_t> vec_empty = {};
+    std::vector<uint8_t> vec_normal2 = {0, 1, 2};
+    std::vector<uint8_t> result_empty = hand.getSubVector(vec_empty, vec_normal2);
+    EXPECT_EQ(result_empty.size(), 2);
+}
+
+// 测试 getCurrentTime 函数
+TEST(IHandUtilsTest, GetCurrentTime) {
+    TestHand hand;
+    
+    // 获取时间字符串
+    std::string time1 = hand.getCurrentTime();
+    
+    // 验证时间字符串不为空
+    EXPECT_FALSE(time1.empty());
+    
+    // 验证时间字符串格式（应该包含日期和时间）
+    // 格式应该是 "YYYY-MM-DD HH:MM:SS.mmm"
+    EXPECT_GT(time1.length(), 19); // 至少包含日期和时间部分
+    
+    // 验证包含日期分隔符
+    EXPECT_NE(time1.find('-'), std::string::npos);
+    
+    // 验证包含时间分隔符
+    EXPECT_NE(time1.find(':'), std::string::npos);
+    
+    // 等待一小段时间后再次获取时间
+    std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    std::string time2 = hand.getCurrentTime();
+    
+    // 验证两次获取的时间不同（或至少格式相同）
+    EXPECT_EQ(time1.length(), time2.length());
+    
+    // 验证时间字符串格式一致
+    // 都应该是 "YYYY-MM-DD HH:MM:SS.mmm" 格式
+    size_t space_pos1 = time1.find(' ');
+    size_t space_pos2 = time2.find(' ');
+    EXPECT_NE(space_pos1, std::string::npos);
+    EXPECT_NE(space_pos2, std::string::npos);
+    
+    // 验证日期部分格式
+    std::string date1 = time1.substr(0, space_pos1);
+    std::string date2 = time2.substr(0, space_pos2);
+    EXPECT_EQ(date1.length(), 10); // "YYYY-MM-DD"
+    EXPECT_EQ(date2.length(), 10);
+    
+    // 验证日期部分包含两个连字符
+    size_t dash_count1 = 0;
+    size_t dash_count2 = 0;
+    for (char c : date1) {
+        if (c == '-') dash_count1++;
+    }
+    for (char c : date2) {
+        if (c == '-') dash_count2++;
+    }
+    EXPECT_EQ(dash_count1, 2);
+    EXPECT_EQ(dash_count2, 2);
+}
+
+// 测试 getCurrentTime 的时间递增
+TEST(IHandUtilsTest, GetCurrentTimeIncrement) {
+    TestHand hand;
+    
+    std::string time1 = hand.getCurrentTime();
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    std::string time2 = hand.getCurrentTime();
+    
+    // 由于我们等待了 100ms，时间应该不同
+    // 注意：由于时间格式包含毫秒，两次时间应该不同
+    // 但由于时间精度问题，我们只验证格式正确
+    EXPECT_FALSE(time1.empty());
+    EXPECT_FALSE(time2.empty());
+}
+
+// 测试 getSubVector 的边界情况
+TEST(IHandUtilsTest, GetSubVectorEdgeCases) {
+    TestHand hand;
+    
+    // 测试大向量
+    std::vector<uint8_t> large_vec(1000, 0);
+    for (size_t i = 0; i < large_vec.size(); ++i) {
+        large_vec[i] = static_cast<uint8_t>(i % 256);
+    }
+    std::vector<uint8_t> result = hand.getSubVector(large_vec);
+    
+    // 验证大小：跳过第一个元素，所以应该是 999
+    EXPECT_EQ(result.size(), 999);
+    
+    // 验证第一个元素：应该是原始向量的第二个元素 (1)
+    EXPECT_EQ(result[0], 1);
+    
+    // 修复：result[998] 对应 large_vec[999]
+    // large_vec[999] = 999 % 256 = 231
+    EXPECT_EQ(static_cast<int>(result[998]), 231);
+    
+    // 附加验证：确保理解正确
+    // result[254] 对应 large_vec[255] = 255
+    EXPECT_EQ(static_cast<int>(result[254]), 255);
+}
+

tests/unit/test_RangeToArc.cpp

+#include <gtest/gtest.h>
+#include "RangeToArc.h"
+#include <cmath>
+#include <vector>
+
+// 测试 is_within_range 函数
+TEST(RangeToArcTest, IsWithinRange) {
+    // 值在范围内
+    EXPECT_DOUBLE_EQ(is_within_range(5.0, 0.0, 10.0), 5.0);
+    EXPECT_DOUBLE_EQ(is_within_range(0.0, 0.0, 10.0), 0.0);  // 边界值
+    EXPECT_DOUBLE_EQ(is_within_range(10.0, 0.0, 10.0), 10.0); // 边界值
+    
+    // 值小于最小值
+    EXPECT_DOUBLE_EQ(is_within_range(-5.0, 0.0, 10.0), 0.0);
+    
+    // 值大于最大值
+    EXPECT_DOUBLE_EQ(is_within_range(15.0, 0.0, 10.0), 10.0);
+    
+    // 负值范围
+    EXPECT_DOUBLE_EQ(is_within_range(-2.0, -5.0, -1.0), -2.0);
+    EXPECT_DOUBLE_EQ(is_within_range(-6.0, -5.0, -1.0), -5.0);
+    EXPECT_DOUBLE_EQ(is_within_range(0.0, -5.0, -1.0), -1.0);
+}
+
+// 测试 scale_value 函数
+TEST(RangeToArcTest, ScaleValue) {
+    // 基本缩放测试
+    EXPECT_NEAR(scale_value(5.0, 0.0, 10.0, 0.0, 100.0), 50.0, 0.001);
+    EXPECT_NEAR(scale_value(0.0, 0.0, 10.0, 0.0, 100.0), 0.0, 0.001);
+    EXPECT_NEAR(scale_value(10.0, 0.0, 10.0, 0.0, 100.0), 100.0, 0.001);
+    
+    // 负值范围缩放
+    EXPECT_NEAR(scale_value(-2.0, -5.0, 0.0, 0.0, 100.0), 60.0, 0.001);
+    
+    // 不同范围的缩放
+    EXPECT_NEAR(scale_value(128, 0, 255, 0.0, 1.57), 0.785, 0.01);
+}
+
+// 测试 should_skip_joint 函数
+TEST(RangeToArcTest, ShouldSkipJoint) {
+    // 测试不同的关节类型和索引
+    // 注意：这个函数的具体实现需要查看源代码
+    // 这里假设一些基本行为
+    bool result1 = should_skip_joint(0, 0);
+    bool result2 = should_skip_joint(0, 1);
+    // 验证函数不会崩溃
+    EXPECT_TRUE(result1 == true || result1 == false);
+    EXPECT_TRUE(result2 == true || result2 == false);
+}
+
+// 测试 initialize_params 函数
+TEST(RangeToArcTest, InitializeParams) {
+    std::vector<double> min_limits;
+    std::vector<double> max_limits;
+    std::vector<int> derict;
+    
+    // 测试 L10 左手参数初始化
+    bool result = initialize_params(static_cast<int>(10), "left", min_limits, max_limits, derict);
+    EXPECT_TRUE(result);
+    EXPECT_FALSE(min_limits.empty());
+    EXPECT_FALSE(max_limits.empty());
+    EXPECT_FALSE(derict.empty());
+    EXPECT_EQ(min_limits.size(), max_limits.size());
+    EXPECT_EQ(min_limits.size(), derict.size());
+    
+    // 验证 L10 左手应该有 10 个关节
+    EXPECT_EQ(min_limits.size(), 10);
+    
+    // 验证每个关节的最小值小于等于最大值
+    for (size_t i = 0; i < min_limits.size(); ++i) {
+        EXPECT_LE(min_limits[i], max_limits[i]);
+    }
+}
+
+// 测试 range_to_arc 函数
+TEST(RangeToArcTest, RangeToArc) {
+    // 测试 L10 左手的转换
+    std::vector<uint8_t> hand_range = {128, 128, 128, 128, 128, 128, 128, 128, 128, 128};
+    std::vector<double> result = range_to_arc(static_cast<int>(10), "left", hand_range);
+    
+    EXPECT_FALSE(result.empty());
+    EXPECT_EQ(result.size(), hand_range.size());
+    
+    // 验证结果在合理范围内（对于 L10 左手）
+    for (size_t i = 0; i < result.size(); ++i) {
+        // L10 左手的范围应该在定义的 min/max 之间
+        EXPECT_GE(result[i], l10_l_min[i] - 0.1); // 允许小的误差
+        EXPECT_LE(result[i], l10_l_max[i] + 0.1);
+    }
+}
+
+// 测试 arc_to_range 函数
+TEST(RangeToArcTest, ArcToRange) {
+    // 测试 L10 左手的转换
+    // 使用中间值进行测试
+    std::vector<double> hand_arc(10, 0.5);
+    std::vector<uint8_t> result = arc_to_range(static_cast<int>(10), "left", hand_arc);
+    
+    EXPECT_FALSE(result.empty());
+    EXPECT_EQ(result.size(), hand_arc.size());
+    
+    // 验证结果在 0-255 范围内
+    for (uint8_t value : result) {
+        EXPECT_GE(value, 0);
+        EXPECT_LE(value, 255);
+    }
+}
+
+// 测试 range_to_arc 和 arc_to_range 的往返转换
+TEST(RangeToArcTest, RoundTripConversion) {
+    // 测试往返转换的精度
+    std::vector<uint8_t> original = {0, 64, 128, 192, 255, 100, 150, 200, 50, 75};
+    std::vector<double> arc = range_to_arc(static_cast<int>(10), "left", original);
+    std::vector<uint8_t> converted_back = arc_to_range(static_cast<int>(10), "left", arc);
+    
+    EXPECT_EQ(original.size(), converted_back.size());
+    
+    // 由于浮点数精度和范围限制，允许一定的误差
+    for (size_t i = 0; i < original.size(); ++i) {
+        int diff = std::abs(static_cast<int>(original[i]) - static_cast<int>(converted_back[i]));
+        EXPECT_LE(diff, 2); // 允许最多 2 的误差
+    }
+}
+
+// 测试边界值
+TEST(RangeToArcTest, BoundaryValues) {
+    // 测试最小值
+    std::vector<uint8_t> min_range(10, 0);
+    std::vector<double> min_arc = range_to_arc(static_cast<int>(10), "left", min_range);
+    EXPECT_FALSE(min_arc.empty());
+    
+    // 测试最大值
+    std::vector<uint8_t> max_range(10, 255);
+    std::vector<double> max_arc = range_to_arc(static_cast<int>(10), "left", max_range);
+    EXPECT_FALSE(max_arc.empty());
+    
+    // 测试中间值
+    std::vector<uint8_t> mid_range(10, 128);
+    std::vector<double> mid_arc = range_to_arc(static_cast<int>(10), "left", mid_range);
+    EXPECT_FALSE(mid_arc.empty());
+}
+
+// 测试不同型号的转换
+TEST(RangeToArcTest, DifferentHandTypes) {
+    // 只测试代码中支持的手型
+    
+    // 测试 L7 - 支持
+    std::vector<uint8_t> l7_range = {128, 128, 128, 128, 128, 128, 128};
+    std::vector<double> l7_arc = range_to_arc(7, "left", l7_range);
+    EXPECT_FALSE(l7_arc.empty());
+    EXPECT_EQ(l7_arc.size(), 7);
+    
+    // 测试 L10 - 支持
+    std::vector<uint8_t> l10_range = {128, 128, 128, 128, 128, 128, 128, 128, 128, 128};
+    std::vector<double> l10_arc = range_to_arc(10, "left", l10_range);
+    EXPECT_FALSE(l10_arc.empty());
+    EXPECT_EQ(l10_arc.size(), 10);
+    
+    // 测试 L20 - 支持
+    std::vector<uint8_t> l20_range(20, 128);
+    std::vector<double> l20_arc = range_to_arc(20, "left", l20_range);
+    EXPECT_FALSE(l20_arc.empty());
+    EXPECT_EQ(l20_arc.size(), 20);
+    
+    // 测试 L21 - 支持
+    std::vector<uint8_t> l21_range(25, 128);
+    std::vector<double> l21_arc = range_to_arc(21, "left", l21_range);
+    EXPECT_FALSE(l21_arc.empty());
+    EXPECT_EQ(l21_arc.size(), 25);
+    
+    // 测试 L25 - 支持
+    std::vector<uint8_t> l25_range(25, 128);
+    std::vector<double> l25_arc = range_to_arc(25, "left", l25_range);
+    EXPECT_FALSE(l25_arc.empty());
+    EXPECT_EQ(l25_arc.size(), 25);
+    
+    // 注意：不要测试不支持的手型，如 L6 (6)
+    // std::vector<uint8_t> l6_range = {128, 128, 128, 128, 128, 128};
+    // std::vector<double> l6_arc = range_to_arc(6, "left", l6_range);
+    // EXPECT_FALSE(l6_arc.empty()); // 这会失败！
+}
+

third_party/PCAN_Basic/Include/PCANBasic.bas

+Attribute VB_Name = "PCANBasic"
+'  PCANBasic.bas
+'
+'  ~~~~~~~~~~~~
+'
+'  PCAN-Basic API
+'
+'  ~~~~~~~~~~~~
+'
+'  ------------------------------------------------------------------
+'  Author : Keneth Wagner
+'  Last change: 2022-07-06
+'
+'  Language: Visual Basic 6.0
+'  ------------------------------------------------------------------
+'
+'  Copyright (C) 1999-2022  PEAK-System Technik GmbH, Darmstadt
+'  more Info at http://www.peak-system.com 
+'
+
+'///////////////////////////////////////////////////////////
+'/ Value definitions
+'///////////////////////////////////////////////////////////
+
+' Currently defined and supported PCAN channels
+'
+Public Const PCAN_NONEBUS As Long = &H0   ' Undefined/default value for a PCAN bus
+
+Public Const PCAN_ISABUS1 As Long = &H21  ' PCAN-ISA interface, channel 1
+Public Const PCAN_ISABUS2 As Long = &H22  ' PCAN-ISA interface, channel 2
+Public Const PCAN_ISABUS3 As Long = &H23  ' PCAN-ISA interface, channel 3
+Public Const PCAN_ISABUS4 As Long = &H24  ' PCAN-ISA interface, channel 4
+Public Const PCAN_ISABUS5 As Long = &H25  ' PCAN-ISA interface, channel 5
+Public Const PCAN_ISABUS6 As Long = &H26  ' PCAN-ISA interface, channel 6
+Public Const PCAN_ISABUS7 As Long = &H27  ' PCAN-ISA interface, channel 7
+Public Const PCAN_ISABUS8 As Long = &H28  ' PCAN-ISA interface, channel 8
+
+Public Const PCAN_DNGBUS1 As Long = &H31  ' PCAN-Dongle/LPT interface, channel 1
+
+Public Const PCAN_PCIBUS1 As Long = &H41  ' PCAN-PCI interface, channel 1
+Public Const PCAN_PCIBUS2 As Long = &H42  ' PCAN-PCI interface, channel 2
+Public Const PCAN_PCIBUS3 As Long = &H43  ' PCAN-PCI interface, channel 3
+Public Const PCAN_PCIBUS4 As Long = &H44  ' PCAN-PCI interface, channel 4
+Public Const PCAN_PCIBUS5 As Long = &H45  ' PCAN-PCI interface, channel 5
+Public Const PCAN_PCIBUS6 As Long = &H46  ' PCAN-PCI interface, channel 6
+Public Const PCAN_PCIBUS7 As Long = &H47  ' PCAN-PCI interface, channel 7
+Public Const PCAN_PCIBUS8 As Long = &H48  ' PCAN-PCI interface, channel 8
+Public Const PCAN_PCIBUS9 As Long = &H409  ' PCAN-PCI interface, channel 9
+Public Const PCAN_PCIBUS10 As Long = &H40A  ' PCAN-PCI interface, channel 10
+Public Const PCAN_PCIBUS11 As Long = &H40B  ' PCAN-PCI interface, channel 11
+Public Const PCAN_PCIBUS12 As Long = &H40C  ' PCAN-PCI interface, channel 12
+Public Const PCAN_PCIBUS13 As Long = &H40D  ' PCAN-PCI interface, channel 13
+Public Const PCAN_PCIBUS14 As Long = &H40E  ' PCAN-PCI interface, channel 14
+Public Const PCAN_PCIBUS15 As Long = &H40F  ' PCAN-PCI interface, channel 15
+Public Const PCAN_PCIBUS16 As Long = &H410  ' PCAN-PCI interface, channel 16
+
+Public Const PCAN_USBBUS1 As Long = &H51  ' PCAN-USB interface, channel 1
+Public Const PCAN_USBBUS2 As Long = &H52  ' PCAN-USB interface, channel 2
+Public Const PCAN_USBBUS3 As Long = &H53  ' PCAN-USB interface, channel 3
+Public Const PCAN_USBBUS4 As Long = &H54  ' PCAN-USB interface, channel 4
+Public Const PCAN_USBBUS5 As Long = &H55  ' PCAN-USB interface, channel 5
+Public Const PCAN_USBBUS6 As Long = &H56  ' PCAN-USB interface, channel 6
+Public Const PCAN_USBBUS7 As Long = &H57  ' PCAN-USB interface, channel 7
+Public Const PCAN_USBBUS8 As Long = &H58  ' PCAN-USB interface, channel 8
+Public Const PCAN_USBBUS9 As Long = &H509  ' PCAN-USB interface, channel 9
+Public Const PCAN_USBBUS10 As Long = &H50A  ' PCAN-USB interface, channel 10
+Public Const PCAN_USBBUS11 As Long = &H50B  ' PCAN-USB interface, channel 11
+Public Const PCAN_USBBUS12 As Long = &H50C  ' PCAN-USB interface, channel 12
+Public Const PCAN_USBBUS13 As Long = &H50D  ' PCAN-USB interface, channel 13
+Public Const PCAN_USBBUS14 As Long = &H50E  ' PCAN-USB interface, channel 14
+Public Const PCAN_USBBUS15 As Long = &H50F  ' PCAN-USB interface, channel 15
+Public Const PCAN_USBBUS16 As Long = &H510  ' PCAN-USB interface, channel 16
+
+Public Const PCAN_PCCBUS1 As Long = &H61  ' PCAN-PC Card interface, channel 1
+Public Const PCAN_PCCBUS2 As Long = &H62  ' PCAN-PC Card interface, channel 2
+
+Public Const PCAN_LANBUS1 As Long = &H801  ' PCAN-LAN interface, channel 1
+Public Const PCAN_LANBUS2 As Long = &H802  ' PCAN-LAN interface, channel 2
+Public Const PCAN_LANBUS3 As Long = &H803  ' PCAN-LAN interface, channel 3
+Public Const PCAN_LANBUS4 As Long = &H804  ' PCAN-LAN interface, channel 4
+Public Const PCAN_LANBUS5 As Long = &H805  ' PCAN-LAN interface, channel 5
+Public Const PCAN_LANBUS6 As Long = &H806  ' PCAN-LAN interface, channel 6
+Public Const PCAN_LANBUS7 As Long = &H807  ' PCAN-LAN interface, channel 7
+Public Const PCAN_LANBUS8 As Long = &H808  ' PCAN-LAN interface, channel 8
+Public Const PCAN_LANBUS9 As Long = &H809  ' PCAN-LAN interface, channel 9
+Public Const PCAN_LANBUS10 As Long = &H80A  ' PCAN-LAN interface, channel 10
+Public Const PCAN_LANBUS11 As Long = &H80B  ' PCAN-LAN interface, channel 11
+Public Const PCAN_LANBUS12 As Long = &H80C  ' PCAN-LAN interface, channel 12
+Public Const PCAN_LANBUS13 As Long = &H80D  ' PCAN-LAN interface, channel 13
+Public Const PCAN_LANBUS14 As Long = &H80E  ' PCAN-LAN interface, channel 14
+Public Const PCAN_LANBUS15 As Long = &H80F  ' PCAN-LAN interface, channel 15
+Public Const PCAN_LANBUS16 As Long = &H810  ' PCAN-LAN interface, channel 16
+
+' Represent the PCAN error and status codes
+'
+Public Const PCAN_ERROR_OK As Long = &H0                 ' No error
+Public Const PCAN_ERROR_XMTFULL As Long = &H1            ' Transmit buffer in CAN controller is full
+Public Const PCAN_ERROR_OVERRUN As Long = &H2            ' CAN controller was read too late
+Public Const PCAN_ERROR_BUSLIGHT As Long = &H4           ' Bus error: an error counter reached the 'light' limit [Not used with the *FD functions]
+Public Const PCAN_ERROR_BUSHEAVY As Long = &H8           ' Bus error: an error counter reached the 'heavy' limit
+Public Const PCAN_ERROR_BUSWARNING = PCAN_ERROR_BUSHEAVY ' An error counter reached the 'warning' limit [ONLY used with the *FD functions]
+Public Const PCAN_ERROR_BUSPASSIVE As Long = &H40000     ' Bus error: the CAN controller is in bus-off state
+Public Const PCAN_ERROR_BUSOFF As Long = &H10            ' Bus error: the CAN controller is in bus-off state
+Public Const PCAN_ERROR_ANYBUSERR = (PCAN_ERROR_BUSWARNING Or PCAN_ERROR_BUSLIGHT Or PCAN_ERROR_BUSHEAVY Or PCAN_ERROR_BUSOFF Or PCAN_ERROR_BUSPASSIVE)    ' Mask for all bus errors
+Public Const PCAN_ERROR_QRCVEMPTY As Long = &H20         ' Receive queue is empty
+Public Const PCAN_ERROR_QOVERRUN As Long = &H40          ' Receive queue was read too late
+Public Const PCAN_ERROR_QXMTFULL As Long = &H80          ' Transmit queue is full
+Public Const PCAN_ERROR_REGTEST As Long = &H100          ' Test of the CAN controller hardware registers failed (no hardware found)
+Public Const PCAN_ERROR_NODRIVER As Long = &H200         ' Driver not loaded
+Public Const PCAN_ERROR_HWINUSE As Long = &H400          ' Hardware already in use by a Net
+Public Const PCAN_ERROR_NETINUSE As Long = &H800         ' A Client is already connected to the Net
+Public Const PCAN_ERROR_ILLHW As Long = &H1400           ' Hardware handle is invalid
+Public Const PCAN_ERROR_ILLNET As Long = &H1800          ' Net handle is invalid
+Public Const PCAN_ERROR_ILLCLIENT As Long = &H1C00       ' Client handle is invalid
+Public Const PCAN_ERROR_ILLHANDLE = (PCAN_ERROR_ILLHW Or PCAN_ERROR_ILLNET Or PCAN_ERROR_ILLCLIENT)     ' Mask for all handle errors
+Public Const PCAN_ERROR_RESOURCE As Long = &H2000        ' Resource (FIFO, Client, timeout) cannot be created
+Public Const PCAN_ERROR_ILLPARAMTYPE As Long = &H4000    ' Invalid parameter
+Public Const PCAN_ERROR_ILLPARAMVAL As Long = &H8000     ' Invalid parameter value
+Public Const PCAN_ERROR_UNKNOWN As Long = &H10000        ' Unknown error
+Public Const PCAN_ERROR_ILLDATA As Long = &H20000        ' Invalid data, function, or action
+Public Const PCAN_ERROR_ILLMODE As Long = &H80000        ' Driver object state is wrong for the attempted operation
+Public Const PCAN_ERROR_CAUTION As Long = &H2000000      ' An operation was successfully carried out, however, irregularities were registered
+Public Const PCAN_ERROR_INITIALIZE As Long = &H4000000   ' Channel is not initialized [Value was changed from &H40000 to &H4000000]
+Public Const PCAN_ERROR_ILLOPERATION As Long = &H8000000 ' Invalid operation [Value was changed from &H80000 to &H8000000]
+
+' PCAN devices
+'
+Public Const PCAN_NONE = &H0        ' Undefined, unknown or not selected PCAN device value
+Public Const PCAN_PEAKCAN = &H1     ' PCAN Non-PnP devices. NOT USED WITHIN PCAN-Basic API
+Public Const PCAN_ISA = &H2         ' PCAN-ISA, PCAN-PC/104, and PCAN-PC/104-Plus
+Public Const PCAN_DNG = &H3         ' PCAN-Dongle
+Public Const PCAN_PCI = &H4         ' PCAN-PCI, PCAN-cPCI, PCAN-miniPCI, and PCAN-PCI Express
+Public Const PCAN_USB = &H5         ' PCAN-USB and PCAN-USB Pro
+Public Const PCAN_PCC = &H6         ' PCAN-PC Card
+Public Const PCAN_VIRTUAL = &H7     ' PCAN Virtual hardware. NOT USED WITHIN PCAN-Basic API
+Public Const PCAN_LAN = &H8         ' PCAN Gateway devices
+
+' PCAN parameters
+'
+Public Const PCAN_DEVICE_ID = &H1                  ' Device identifier parameter
+Public Const PCAN_5VOLTS_POWER = &H2               ' 5-Volt power parameter
+Public Const PCAN_RECEIVE_EVENT = &H3              ' PCAN receive event handler parameter
+Public Const PCAN_MESSAGE_FILTER = &H4             ' PCAN message filter parameter
+Public Const PCAN_API_VERSION = &H5                ' PCAN-Basic API version parameter
+Public Const PCAN_CHANNEL_VERSION = &H6            ' PCAN device channel version parameter
+Public Const PCAN_BUSOFF_AUTORESET = &H7           ' PCAN Reset-On-Busoff parameter
+Public Const PCAN_LISTEN_ONLY = &H8                ' PCAN Listen-Only parameter
+Public Const PCAN_LOG_LOCATION = &H9               ' Directory path for log files
+Public Const PCAN_LOG_STATUS = &HA                 ' Debug-Log activation status
+Public Const PCAN_LOG_CONFIGURE = &HB              ' Configuration of the debugged information (LOG_FUNCTION_***)
+Public Const PCAN_LOG_TEXT = &HC                   ' Custom insertion of text into the log file
+Public Const PCAN_CHANNEL_CONDITION = &HD          ' Availability status of a PCAN-Channel
+Public Const PCAN_HARDWARE_NAME = &HE              ' PCAN hardware name parameter
+Public Const PCAN_RECEIVE_STATUS = &HF             ' Message reception status of a PCAN-Channel
+Public Const PCAN_CONTROLLER_NUMBER = &H10         ' CAN-Controller number of a PCAN-Channel
+Public Const PCAN_TRACE_LOCATION = &H11            ' Directory path for PCAN trace files
+Public Const PCAN_TRACE_STATUS = &H12              ' CAN tracing activation status
+Public Const PCAN_TRACE_SIZE = &H13                ' Configuration of the maximum file size of a CAN trace.
+Public Const PCAN_TRACE_CONFIGURE = &H14           ' Configuration of the trace file storing mode (TRACE_FILE_***)
+Public Const PCAN_CHANNEL_IDENTIFYING = &H15       ' Physical identification of a USB based PCAN-Channel by blinking its associated LED
+Public Const PCAN_CHANNEL_FEATURES = &H16          ' Capabilities of a PCAN device (FEATURE_***)
+Public Const PCAN_BITRATE_ADAPTING = &H17          ' Using of an existing bit rate (PCAN-View connected to a channel)
+Public Const PCAN_BITRATE_INFO = &H18              ' Configured bit rate as Btr0Btr1 value
+Public Const PCAN_BITRATE_INFO_FD = &H19           ' Configured bit rate as TPCANBitrateFD string
+Public Const PCAN_BUSSPEED_NOMINAL = &H1A          ' Configured nominal CAN Bus speed as Bits per seconds
+Public Const PCAN_BUSSPEED_DATA = &H1B             ' Configured CAN data speed as Bits per seconds
+Public Const PCAN_IP_ADDRESS = &H1C                ' Remote address of a LAN channel as string in IPv4 format
+Public Const PCAN_LAN_SERVICE_STATUS = &H1D        ' Status of the Virtual PCAN-Gateway Service
+Public Const PCAN_ALLOW_STATUS_FRAMES = &H1E       ' Status messages reception status within a PCAN-Channel
+Public Const PCAN_ALLOW_RTR_FRAMES = &H1F          ' RTR messages reception status within a PCAN-Channel
+Public Const PCAN_ALLOW_ERROR_FRAMES = &H20        ' Error messages reception status within a PCAN-Channel
+Public Const PCAN_INTERFRAME_DELAY = &H21          ' Delay, in microseconds, between sending frames
+Public Const PCAN_ACCEPTANCE_FILTER_11BIT = &H22   ' Filter over code and mask patterns for 11-Bit messages
+Public Const PCAN_ACCEPTANCE_FILTER_29BIT = &H23   ' Filter over code and mask patterns for 29-Bit messages
+Public Const PCAN_IO_DIGITAL_CONFIGURATION = &H24  ' Output mode Of 32 digital I/O pin Of a PCAN-USB Chip. 1: Output-Active 0 : Output Inactive
+Public Const PCAN_IO_DIGITAL_VALUE = &H25          ' Value assigned To a 32 digital I/O pins Of a PCAN-USB Chip
+Public Const PCAN_IO_DIGITAL_SET = &H26            ' Value assigned To a 32 digital I/O pins Of a PCAN-USB Chip - Multiple digital I/O pins To 1 = High
+Public Const PCAN_IO_DIGITAL_CLEAR = &H27          ' Clear multiple digital I/O pins To 0
+Public Const PCAN_IO_ANALOG_VALUE = &H28           ' Get value Of a Single analog input pin
+Public Const PCAN_FIRMWARE_VERSION = &H29          ' Get the version of the firmware used by the device associated With a PCAN-Channel
+Public Const PCAN_ATTACHED_CHANNELS_COUNT = &H2A   ' Get the amount of PCAN channels attached to a system
+Public Const PCAN_ATTACHED_CHANNELS = &H2B         ' Get information about PCAN channels attached to a system
+Public Const PCAN_ALLOW_ECHO_FRAMES = &H2C         ' Echo messages reception status within a PCAN-Channel
+Public Const PCAN_DEVICE_PART_NUMBER = &H2D        ' Get the part number associated To a device
+
+' DEPRECATED parameters
+'
+Public Const PCAN_DEVICE_NUMBER = PCAN_DEVICE_ID   ' Deprecated parameter. Use PCAN_DEVICE_ID instead
+
+' PCAN parameter values
+'
+Public Const PCAN_PARAMETER_OFF = &H0         ' The PCAN parameter is not set (inactive)
+Public Const PCAN_PARAMETER_ON = &H1          ' The PCAN parameter is set (active)
+Public Const PCAN_FILTER_CLOSE = &H0          ' The PCAN filter is closed. No messages will be received
+Public Const PCAN_FILTER_OPEN = &H1           ' The PCAN filter is fully opened. All messages will be received
+Public Const PCAN_FILTER_CUSTOM = &H2         ' The PCAN filter is custom configured. Only registered messages will be received
+Public Const PCAN_CHANNEL_UNAVAILABLE = &H0   ' The PCAN-Channel handle is illegal, or its associated hardware is not available
+Public Const PCAN_CHANNEL_AVAILABLE = &H1     ' The PCAN-Channel handle is available to be connected (PnP Hardware: it means furthermore that the hardware is plugged-in)
+Public Const PCAN_CHANNEL_OCCUPIED = &H2      ' The PCAN-Channel handle is valid, and is already being used
+Public Const PCAN_CHANNEL_PCANVIEW = (PCAN_CHANNEL_AVAILABLE Or PCAN_CHANNEL_OCCUPIED) ' The PCAN-Channel handle is already being used by a PCAN-View application, but is available to connect
+
+Public Const LOG_FUNCTION_DEFAULT = &H0       ' Logs system exceptions / errors
+Public Const LOG_FUNCTION_ENTRY = &H1         ' Logs the entries to the PCAN-Basic API functions
+Public Const LOG_FUNCTION_PARAMETERS = &H2    ' Logs the parameters passed to the PCAN-Basic API functions
+Public Const LOG_FUNCTION_LEAVE = &H4         ' Logs the exits from the PCAN-Basic API functions
+Public Const LOG_FUNCTION_WRITE = &H8         ' Logs the CAN messages passed to the CAN_Write function
+Public Const LOG_FUNCTION_READ = &H10         ' Logs the CAN messages received within the CAN_Read function
+Public Const LOG_FUNCTION_ALL = &HFFFF        ' Logs all possible information within the PCAN-Basic API functions
+
+Public Const TRACE_FILE_SINGLE = &H0          ' A single file is written until it size reaches PAN_TRACE_SIZE. 
+Public Const TRACE_FILE_SEGMENTED = &H1       ' Traced data is distributed in several files with size PAN_TRACE_SIZE.
+Public Const TRACE_FILE_DATE = &H2            ' Includes the date into the name of the trace file.
+Public Const TRACE_FILE_TIME = &H4            ' Includes the start time into the name of the trace file.
+Public Const TRACE_FILE_OVERWRITE = &H80      ' Causes the overwriting of available traces (same name).
+
+Public Const FEATURE_FD_CAPABLE = &H1         ' Device supports flexible data-rate (CAN-FD)
+Public Const FEATURE_DELAY_CAPABLE = &H2      ' Device supports a delay between sending frames (FPGA based USB devices)
+Public Const FEATURE_IO_CAPABLE = &H4         ' Device supports I/O functionality for electronic circuits (USB-Chip devices)
+
+Public Const SERVICE_STATUS_STOPPED = &H1     ' The service is not running
+Public Const SERVICE_STATUS_RUNNING = &H4     ' The service is running
+
+' Other constants
+'
+Public Const MAX_LENGTH_HARDWARE_NAME = 33    ' Maximum length of the name of a device: 32 characters + terminator
+Public Const MAX_LENGTH_VERSION_STRING = 256  ' Maximum length of a version string: 255 characters + terminator
+
+' PCAN message types
+'
+Public Const PCAN_MESSAGE_STANDARD = &H0      ' The PCAN message is a CAN Standard Frame (11-bit identifier)
+Public Const PCAN_MESSAGE_RTR = &H1           ' The PCAN message is a CAN Remote-Transfer-Request Frame
+Public Const PCAN_MESSAGE_EXTENDED = &H2      ' The PCAN message is a CAN Extended Frame (29-bit identifier)
+Public Const PCAN_MESSAGE_FD = &H4            ' The PCAN message represents a FD frame in terms of CiA Specs
+Public Const PCAN_MESSAGE_BRS = &H8           ' The PCAN message represents a FD bit rate switch (CAN data at a higher bit rate)
+Public Const PCAN_MESSAGE_ESI = &H10          ' The PCAN message represents a FD error state indicator(CAN FD transmitter was error active)
+Public Const PCAN_MESSAGE_ECHO = &H20         ' The PCAN message represents an echo CAN Frame
+Public Const PCAN_MESSAGE_ERRFRAME = &H40     ' The PCAN message represents an error frame
+Public Const PCAN_MESSAGE_STATUS = &H80       ' The PCAN message represents a PCAN status message
+
+' LookUp Parameters
+'
+Public Const LOOKUP_DEVICE_TYPE As String = "devicetype"             ' Lookup channel by Device type (see PCAN devices e.g. PCAN_USB)
+Public Const LOOKUP_DEVICE_ID As String = "deviceid"                 ' Lookup channel by device id
+Public Const LOOKUP_CONTROLLER_NUMBER As String = "controllernumber" ' Lookup channel by CAN controller 0-based index
+Public Const LOOKUP_IP_ADDRESS As String = "ipaddress"               ' Lookup channel by IP address (LAN channels only)
+
+' Frame Type / Initialization Mode
+'
+Public Const PCAN_MODE_STANDARD = PCAN_MESSAGE_STANDARD
+Public Const PCAN_MODE_EXTENDED = PCAN_MESSAGE_EXTENDED
+
+' Baud rate codes = BTR0/BTR1 register values for the CAN controller.
+' You can define your own Baud rate with the BTROBTR1 register.
+' Take a look at www.peak-system.com for our free software "BAUDTOOL"
+' to calculate the BTROBTR1 register for every bit rate and sample point.
+'
+Public Const PCAN_BAUD_1M = &H14                '   1 MBit/s
+Public Const PCAN_BAUD_800K = &H16              ' 800 kBit/s
+Public Const PCAN_BAUD_500K = &H1C              ' 500 kBit/s
+Public Const PCAN_BAUD_250K = &H11C             ' 250 kBit/s
+Public Const PCAN_BAUD_125K = &H31C             ' 125 kBit/s
+Public Const PCAN_BAUD_100K = &H432F            ' 100 kBit/s
+Public Const PCAN_BAUD_95K = &HC34E             '  95,238 kBit/s
+Public Const PCAN_BAUD_83K = &H852B             '  83,333 kBit/s
+Public Const PCAN_BAUD_50K = &H472F             '  50 kBit/s
+Public Const PCAN_BAUD_47K = &H1414             '  47,619 kBit/s
+Public Const PCAN_BAUD_33K = &H8B2F             '  33,333 kBit/s
+Public Const PCAN_BAUD_20K = &H532F             '  20 kBit/s
+Public Const PCAN_BAUD_10K = &H672F             '  10 kBit/s
+Public Const PCAN_BAUD_5K = &H7F7F              '   5 kBit/s
+
+' Represents the configuration for a CAN bit rate
+' Note: 
+'    * Each parameter and its value must be separated with a '='.
+'    * Each pair of parameter/value must be separated using ','. 
+'
+' Example:
+'    f_clock=80000000,nom_brp=10,nom_tseg1=5,nom_tseg2=2,nom_sjw=1,data_brp=4,data_tseg1=7,data_tseg2=2,data_sjw=1
+'
+Public Const PCAN_BR_CLOCK As String = "f_clock"
+Public Const PCAN_BR_CLOCK_MHZ As String = "f_clock_mhz"
+Public Const PCAN_BR_NOM_BRP As String = "nom_brp"
+Public Const PCAN_BR_NOM_TSEG1 As String = "nom_tseg1"
+Public Const PCAN_BR_NOM_TSEG2 As String = "nom_tseg2"
+Public Const PCAN_BR_NOM_SJW As String = "nom_sjw"
+Public Const PCAN_BR_NOM_SAMPLE As String = "nom_sam"
+Public Const PCAN_BR_DATA_BRP As String = "data_brp"
+Public Const PCAN_BR_DATA_TSEG1 As String = "data_tseg1"
+Public Const PCAN_BR_DATA_TSEG2 As String = "data_tseg2"
+Public Const PCAN_BR_DATA_SJW As String = "data_sjw"
+Public Const PCAN_BR_DATA_SAMPLE As String = "data_ssp_offset"
+
+' Type of PCAN (Non-PnP) hardware
+' 
+Public Const PCAN_TYPE_ISA = &H1              ' PCAN-ISA 82C200
+Public Const PCAN_TYPE_ISA_SJA = &H9          ' PCAN-ISA SJA1000
+Public Const PCAN_TYPE_ISA_PHYTEC = &H4       ' PHYTEC ISA
+Public Const PCAN_TYPE_DNG = &H2              ' PCAN-Dongle 82C200
+Public Const PCAN_TYPE_DNG_EPP = &H3          ' PCAN-Dongle EPP 82C200
+Public Const PCAN_TYPE_DNG_SJA = &H5          ' PCAN-Dongle SJA1000
+Public Const PCAN_TYPE_DNG_SJA_EPP = &H6      ' PCAN-Dongle EPP SJA1000
+
+' Represents a PCAN message
+'
+Public Type TPCANMsg
+    ID As Long                    ' 11/29-bit message identifier
+    MsgType As Byte               ' Type of the message
+    LEN As Byte                   ' Data Length Code of the message (0..8)
+    DATA(7) As Byte               ' Data of the message (DATA[0]..DATA[7])
+End Type
+
+' Represents a timestamp of a received PCAN message
+' Total Microseconds = micros + 1000 * millis + 0x100000000 * 1000 * millis_overflow
+'
+Public Type TPCANTimestamp
+    millis As Long                ' base-value: milliseconds: 0.. 2^32-1
+    millis_overflow As Integer    ' roll-arounds of millis
+    micros As Integer             ' microseconds: 0..999
+End Type
+
+' Represents a PCAN message from a FD capable hardware
+'
+Public Type TPCANMsgFD
+    ID As Long                    ' 11/29-bit message identifier
+    MsgType As Byte               ' Type of the message
+    DLC As Byte                   ' Data Length Code of the message (0..15)
+    DATA(63) As Byte              ' Data of the message (DATA[0]..DATA[63])
+End Type
+
+' Describes an available PCAN channel
+'
+Public Type TPCANChannelInformation
+    channel_handle As Integer                       ' PCAN channel handle   
+    device_type As Byte                             ' Kind Of PCAN device
+    controller_number As Byte                       ' CAN-Controller number
+    device_features As Long                         ' Device capabilities flag (see FEATURE_*)
+    device_name(MAX_LENGTH_HARDWARE_NAME) As Byte   ' Device name
+    device_id As Long                               ' Device number
+    channel_condition As Long                       ' Availability status of a PCAN-Channel      
+End Type
+
+''' <summary>
+''' Initializes a PCAN Channel
+''' </summary>
+''' <param name="Channel">"The handle of a PCAN Channel"</param>
+''' <param name="Btr0Btr1">"The speed for the communication (BTR0BTR1 code)"</param>
+''' <param name="HwType">"Non-PnP: The type of hardware and operation mode"</param>
+''' <param name="IOPort">"Non-PnP: The I/O address for the parallel port"</param>
+''' <param name="Interrupt">"Non-PnP: Interrupt number of the parallel port"</param>
+''' <returns>"A TPCANStatus error code"</returns>
+Public Declare Function CAN_Initialize Lib "PCANBasic.DLL" _
+    (ByVal channel As Integer, _
+    ByVal Btr0Btr1 As Integer, _
+    Optional ByVal HwType As Byte = 0, _
+    Optional ByVal IOPort As Long = 0, _
+    Optional ByVal Interrupt As Integer = 0) As Long
+
+
+''' <summary>
+''' Initializes a FD capable PCAN Channel  
+''' </summary>
+''' <param name="Channel">"The handle of a FD capable PCAN Channel"</param>
+''' <param name="BitrateFD">"The speed for the communication (FD bit rate string)"</param>
+''' <remarks>See PCAN_BR_* values
+''' * parameter and values ust be separated by '='
+''' * Couples of Parameter/value must be separated by ','
+''' * Following Parameter must be filled out: f_clock, data_brp, data_sjw, data_tseg1, data_tseg2,
+'''   nom_brp, nom_sjw, nom_tseg1, nom_tseg2.
+''' * Following Parameters are optional (not used yet): data_ssp_offset, nom_sam
+'''</remarks>
+''' <example>f_clock=80000000,nom_brp=10,nom_tseg1=5,nom_tseg2=2,nom_sjw=1,data_brp=4,data_tseg1=7,data_tseg2=2,data_sjw=1</example>
+''' <returns>"A TPCANStatus error code"</returns>
+Public Declare Function CAN_InitializeFD Lib "PCANBasic.DLL" _
+    (ByVal Channel As Integer, _
+    ByVal BitrateFD As String) As Long
+
+
+''' <summary>
+''' Uninitializes one or all PCAN Channels initialized by CAN_Initialize
+''' </summary>
+''' <remarks>Giving the TPCANHandle value "PCAN_NONEBUS", 
+''' uninitialize all initialized channels</remarks>
+''' <param name="Channel">"The handle of a PCAN Channel"</param>
+''' <returns>"A TPCANStatus error code"</returns>
+Public Declare Function CAN_Uninitialize Lib "PCANBasic.DLL" _
+    (ByVal Channel As Integer) As Long
+
+
+''' <summary>
+''' Resets the receive and transmit queues of the PCAN Channel  
+''' </summary>
+''' <remarks>
+''' A reset of the CAN controller is not performed.
+''' </remarks>
+''' <param name="Channel">"The handle of a PCAN Channel"</param>
+''' <returns>"A TPCANStatus error code"</returns>
+Public Declare Function CAN_Reset Lib "PCANBasic.DLL" _
+    (ByVal Channel As Integer) As Long
+
+
+''' <summary>
+''' Gets the current status of a PCAN Channel 
+''' </summary>
+''' <param name="Channel">"The handle of a PCAN Channel"</param>
+''' <returns>"A TPCANStatus error code"</returns>
+Public Declare Function CAN_GetStatus Lib "PCANBasic.DLL" _
+    (ByVal Channel As Integer) As Long
+
+
+''' <summary>
+''' Reads a CAN message from the receive queue of a PCAN Channel 
+''' </summary>
+''' <param name="Channel">"The handle of a PCAN Channel"</param>
+''' <param name="MessageBuffer">"A TPCANMsg structure buffer to store the CAN message"</param>
+''' <param name="TimestampBuffer">"A TPCANTimestamp structure buffer to get 
+''' the reception time of the message. If this value is not desired, this parameter
+''' should be passed as NULL"</param>
+''' <returns>"A TPCANStatus error code"</returns>
+Public Declare Function CAN_Read Lib "PCANBasic.DLL" _
+    (ByVal Channel As Integer, _
+    ByRef MessageBuffer As TPCANMsg, _
+    ByRef TimestampBuffer As TPCANTimestamp) As Long
+
+
+''' <summary>
+''' Reads a CAN message from the receive queue of a FD capable PCAN Channel 
+''' </summary>
+''' <param name="Channel">"The handle of a FD capable PCAN Channel"</param>
+''' <param name="MessageBuffer">"A TPCANMsgFD structure buffer to store the CAN message"</param>
+''' <param name="TimestampBuffer">"A TPCANTimestampFD buffer to get 
+''' the reception time of the message. If this value is not desired, this parameter
+''' should be passed as NULL"</param>
+''' <returns>"A TPCANStatus error code"</returns>
+Public Declare Function CAN_ReadFD Lib "PCANBasic.DLL" _
+    (ByVal Channel As Integer,
+    ByRef MessageBuffer As TPCANMsgFD,
+    ByRef TimestampBuffer As Long) As Long
+
+
+''' <summary>
+''' Transmits a CAN message over a FD capable PCAN Channel
+''' </summary>
+''' <param name="Channel">"The handle of a FD capable PCAN Channel"</param>
+''' <param name="MessageBuffer">"A TPCANMsgFD buffer with the message to be sent"</param>
+''' <returns>"A TPCANStatus error code"</returns>
+Public Declare Function CAN_WriteFD Lib "PCANBasic.DLL" _
+    (ByVal Channel As Integer, _
+    ByRef MessageBuffer As TPCANMsgFD) As Long
+
+
+''' <summary>
+''' Transmits a CAN message 
+''' </summary>
+''' <param name="Channel">"The handle of a PCAN Channel"</param>
+''' <param name="MessageBuffer">"A TPCANMsg buffer with the message to be sent"</param>
+''' <returns>"A TPCANStatus error code"</returns>
+Public Declare Function CAN_Write Lib "PCANBasic.DLL" _
+    (ByVal Channel As Integer, _
+    ByRef MessageBuffer As TPCANMsg) As Long
+
+
+''' <summary>
+''' Configures the reception filter. 
+''' </summary>
+''' <remarks>The message filter will be expanded with every call to 
+''' this function. If it is desired to reset the filter, please use 
+''' the CAN_SetValue function</remarks>
+''' <param name="Channel">"The handle of a PCAN Channel"</param>
+''' <param name="FromID">"The lowest CAN ID to be received"</param>
+''' <param name="ToID">"The highest CAN ID to be received"</param>
+''' <param name="Mode">"Message type, Standard (11-bit identifier) or 
+''' Extended (29-bit identifier)"</param>
+''' <returns>"A TPCANStatus error code"</returns>
+Public Declare Function CAN_FilterMessages Lib "PCANBasic.DLL" _
+    (ByVal Channel As Integer, _
+    ByVal FromID As Long, _
+    ByVal ToID As Long, _
+    ByVal Mode As Byte) As Long
+
+
+''' <summary>
+''' Retrieves a PCAN Channel value
+''' </summary>
+''' <remarks>Parameters can be present or not according with the kind 
+''' of Hardware (PCAN Channel) being used. If a parameter is not available,
+''' a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+''' <param name="Channel">"The handle of a PCAN Channel"</param>
+''' <param name="Parameter">"The TPCANParameter parameter to get"</param>
+''' <param name="Buffer">"Buffer for the parameter value"</param>
+''' <param name="BufferLength">"Size in bytes of the buffer"</param>
+''' <returns>"A TPCANStatus error code"</returns>
+Public Declare Function CAN_GetValue Lib "PCANBasic.DLL" _
+    (ByVal Channel As Integer, _
+    ByVal Parameter As Byte, _
+    ByRef Buffer As Any, _
+    ByVal BufferLength As Long) As Long
+
+
+''' <summary>
+''' Configures or sets a PCAN Channel value 
+''' </summary>
+''' <remarks>Parameters can be present or not according with the kind 
+''' of Hardware (PCAN Channel) being used. If a parameter is not available,
+''' a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+''' <param name="Channel">"The handle of a PCAN Channel"</param>
+''' <param name="Parameter">"The TPCANParameter parameter to set"</param>
+''' <param name="Buffer">"Buffer with the value to be set"</param>
+''' <param name="BufferLength">"Size in bytes of the buffer"</param>
+''' <returns>"A TPCANStatus error code"</returns>
+Public Declare Function CAN_SetValue Lib "PCANBasic.DLL" _
+    (ByVal Channel As Integer, _
+    ByVal Parameter As Byte, _
+    ByRef Buffer As Any, _
+    ByVal BufferLength As Long) As Long
+
+
+''' <summary>
+''' Returns a descriptive text of a given TPCANStatus error 
+''' code, in any desired language
+''' </summary>
+''' <remarks>The current languages available for translation are: 
+''' Neutral (0x00), German (0x07), English (0x09), Spanish (0x0A),
+''' Italian (0x10) and French (0x0C)</remarks>
+''' <param name="Error">"A TPCANStatus error code"</param>
+''' <param name="Language">"Indicates a 'Primary language ID'"</param>
+''' <param name="Buffer">"Buffer for a null terminated char array"</param>
+''' <returns>"A TPCANStatus error code"</returns>
+Public Declare Function CAN_GetErrorText Lib "PCANBasic.DLL" _
+    (ByVal ErrorCode As Long,
+    ByVal Language As Integer,
+    ByVal Buffer As String) As Long
+
+''' <summary>
+''' Finds a PCAN-Basic channel that matches with the given parameters
+''' </summary>
+''' <param name="Parameters">A comma separated string contained pairs of 
+''' parameter-name/value to be matched within a PCAN-Basic channel</param>
+''' <param name="FoundChannel">Buffer for returning the PCAN-Basic channel, 
+''' when found</param>
+''' <returns>A TPCANStatus error code</returns>
+Public Declare Function CAN_LookUpChannel Lib "PCANBasic.DLL" _
+    (ByVal Parameters As String,
+    ByRef FoundChannel As Integer) As Long
\ No newline at end of file

third_party/PCAN_Basic/Include/PCANBasic.cs

+//  PCANBasic.cs
+//
+//  ~~~~~~~~~~~~
+//
+//  PCAN-Basic API
+//
+//  ~~~~~~~~~~~~
+//
+//  ------------------------------------------------------------------
+//  Author : Keneth Wagner
+//  Last change: 2022-07-06
+//
+//  Language: C# 1.0
+//  ------------------------------------------------------------------
+//
+//  Copyright (C) 1999-2022  PEAK-System Technik GmbH, Darmstadt
+//  more Info at http://www.peak-system.com 
+//
+using System;
+using System.Text;
+using System.Runtime.InteropServices;
+
+namespace Peak.Can.Basic
+{    
+    using TPCANHandle = System.UInt16;    
+    using TPCANBitrateFD = System.String;
+    using TPCANTimestampFD = System.UInt64;
+
+    #region Enumerations
+    /// <summary>
+    /// Represents a PCAN status/error code
+    /// </summary>
+    [Flags]
+    public enum TPCANStatus : uint
+    {
+        /// <summary>
+        /// No error
+        /// </summary>
+        PCAN_ERROR_OK           = 0x00000,
+        /// <summary>
+        /// Transmit buffer in CAN controller is full
+        /// </summary>
+        PCAN_ERROR_XMTFULL      = 0x00001,
+        /// <summary>
+        /// CAN controller was read too late        
+        /// </summary>
+        PCAN_ERROR_OVERRUN      = 0x00002,  
+        /// <summary>
+        /// Bus error: an error counter reached the 'light' limit
+        /// </summary>
+        PCAN_ERROR_BUSLIGHT     = 0x00004,  
+        /// <summary>
+        /// Bus error: an error counter reached the 'heavy' limit
+        /// </summary>
+        PCAN_ERROR_BUSHEAVY     = 0x00008,  
+        /// <summary>
+        /// Bus error: an error counter reached the 'warning' limit
+        /// </summary>
+        PCAN_ERROR_BUSWARNING   = PCAN_ERROR_BUSHEAVY,
+        /// <summary>
+        /// Bus error: the CAN controller is error passive
+        /// </summary>
+        PCAN_ERROR_BUSPASSIVE   = 0x40000,
+        /// <summary>
+        /// Bus error: the CAN controller is in bus-off state
+        /// </summary>
+        PCAN_ERROR_BUSOFF       = 0x00010,  
+        /// <summary>
+        /// Mask for all bus errors
+        /// </summary>
+        PCAN_ERROR_ANYBUSERR = (PCAN_ERROR_BUSWARNING | PCAN_ERROR_BUSLIGHT | PCAN_ERROR_BUSHEAVY | PCAN_ERROR_BUSOFF | PCAN_ERROR_BUSPASSIVE),
+        /// <summary>
+        /// Receive queue is empty
+        /// </summary>
+        PCAN_ERROR_QRCVEMPTY    = 0x00020,  
+        /// <summary>
+        /// Receive queue was read too late
+        /// </summary>
+        PCAN_ERROR_QOVERRUN     = 0x00040,  
+        /// <summary>
+        /// Transmit queue is full
+        /// </summary>
+        PCAN_ERROR_QXMTFULL     = 0x00080,  
+        /// <summary>
+        /// Test of the CAN controller hardware registers failed (no hardware found)
+        /// </summary>
+        PCAN_ERROR_REGTEST      = 0x00100,
+        /// <summary>
+        /// Driver not loaded
+        /// </summary>
+        PCAN_ERROR_NODRIVER     = 0x00200,
+        /// <summary>
+        /// Hardware already in use by a Net
+        /// </summary>
+        PCAN_ERROR_HWINUSE      = 0x00400,
+        /// <summary>
+        /// A Client is already connected to the Net
+        /// </summary>
+        PCAN_ERROR_NETINUSE     = 0x00800,
+        /// <summary>
+        /// Hardware handle is invalid
+        /// </summary>
+        PCAN_ERROR_ILLHW        = 0x01400,
+        /// <summary>
+        /// Net handle is invalid
+        /// </summary>
+        PCAN_ERROR_ILLNET       = 0x01800,
+        /// <summary>
+        /// Client handle is invalid
+        /// </summary>
+        PCAN_ERROR_ILLCLIENT    = 0x01C00,
+        /// <summary>
+        /// Mask for all handle errors
+        /// </summary>
+        PCAN_ERROR_ILLHANDLE    = (PCAN_ERROR_ILLHW | PCAN_ERROR_ILLNET | PCAN_ERROR_ILLCLIENT),
+        /// <summary>
+        /// Resource (FIFO, Client, timeout) cannot be created
+        /// </summary>
+        PCAN_ERROR_RESOURCE     = 0x02000,
+        /// <summary>
+        /// Invalid parameter
+        /// </summary>
+        PCAN_ERROR_ILLPARAMTYPE = 0x04000,
+        /// <summary>
+        /// Invalid parameter value
+        /// </summary>
+        PCAN_ERROR_ILLPARAMVAL  = 0x08000,
+        /// <summary>
+        /// Unknown error
+        /// </summary>
+        PCAN_ERROR_UNKNOWN      = 0x10000,
+        /// <summary>
+        /// Invalid data, function, or action.
+        /// </summary>
+        PCAN_ERROR_ILLDATA      = 0x20000,
+        /// <summary>
+        /// Driver object state is wrong for the attempted operation
+        /// </summary>
+        PCAN_ERROR_ILLMODE = 0x80000,
+        /// <summary>
+        /// An operation was successfully carried out, however, irregularities were registered
+        /// </summary>
+        PCAN_ERROR_CAUTION = 0x2000000,
+        /// <summary>
+        /// Channel is not initialized
+        /// <remarks>Value was changed from 0x40000 to 0x4000000</remarks>
+        /// </summary>
+        PCAN_ERROR_INITIALIZE = 0x4000000,
+        /// <summary>
+        /// Invalid operation
+        /// <remarks>Value was changed from 0x80000 to 0x8000000</remarks>
+        /// </summary>
+        PCAN_ERROR_ILLOPERATION = 0x8000000,
+    }
+
+    /// <summary>
+    /// Represents a PCAN device
+    /// </summary>
+    public enum TPCANDevice : byte
+    {
+        /// <summary>
+        /// Undefined, unknown or not selected PCAN device value
+        /// </summary>
+        PCAN_NONE = 0,
+        /// <summary>
+        /// PCAN Non-PnP devices. NOT USED WITHIN PCAN-Basic API
+        /// </summary>
+        PCAN_PEAKCAN = 1,
+        /// <summary>
+        /// PCAN-ISA, PCAN-PC/104, and PCAN-PC/104-Plus
+        /// </summary>
+        PCAN_ISA = 2,
+        /// <summary>
+        /// PCAN-Dongle
+        /// </summary>
+        PCAN_DNG = 3,
+        /// <summary>
+        /// PCAN-PCI, PCAN-cPCI, PCAN-miniPCI, and PCAN-PCI Express
+        /// </summary>
+        PCAN_PCI = 4,
+        /// <summary>
+        /// PCAN-USB and PCAN-USB Pro
+        /// </summary>
+        PCAN_USB = 5,
+        /// <summary>
+        /// PCAN-PC Card
+        /// </summary>
+        PCAN_PCC = 6,
+        /// <summary>
+        /// PCAN Virtual hardware. NOT USED WITHIN PCAN-Basic API
+        /// </summary>
+        PCAN_VIRTUAL = 7,
+        /// <summary>
+        /// PCAN Gateway devices
+        /// </summary>
+        PCAN_LAN = 8
+    }
+
+    /// <summary>
+    /// Represents a PCAN parameter to be read or set
+    /// </summary>
+    public enum TPCANParameter : byte
+    {
+        /// <summary>
+        /// Device identifier parameter
+        /// </summary>
+        PCAN_DEVICE_ID           = 1,
+        /// <summary>
+        /// DEPRECATED parameter. Use PCAN_DEVICE_ID instead
+        /// </summary>
+        [Obsolete]
+        PCAN_DEVICE_NUMBER = PCAN_DEVICE_ID,
+        /// <summary>
+        /// 5-Volt power parameter
+        /// </summary>
+        PCAN_5VOLTS_POWER        = 2,
+        /// <summary>
+        /// PCAN receive event handler parameter
+        /// </summary>
+        PCAN_RECEIVE_EVENT       = 3,
+        /// <summary>
+        /// PCAN message filter parameter
+        /// </summary>
+        PCAN_MESSAGE_FILTER      = 4,
+        /// <summary>
+        /// PCAN-Basic API version parameter
+        /// </summary>
+        PCAN_API_VERSION         = 5,
+        /// <summary>
+        /// PCAN device channel version parameter
+        /// </summary>
+        PCAN_CHANNEL_VERSION     = 6,
+        /// <summary>
+        /// PCAN Reset-On-Busoff parameter
+        /// </summary>
+        PCAN_BUSOFF_AUTORESET    = 7,
+        /// <summary>
+        /// PCAN Listen-Only parameter
+        /// </summary>
+        PCAN_LISTEN_ONLY         = 8,
+        /// <summary>
+        /// Directory path for log files
+        /// </summary>
+        PCAN_LOG_LOCATION        = 9,
+        /// <summary>
+        /// Debug-Log activation status
+        /// </summary>
+        PCAN_LOG_STATUS          = 10,
+        /// <summary>
+        /// Configuration of the debugged information (LOG_FUNCTION_***)
+        /// </summary>
+        PCAN_LOG_CONFIGURE       = 11,
+        /// <summary>
+        /// Custom insertion of text into the log file
+        /// </summary>
+        PCAN_LOG_TEXT            = 12,
+        /// <summary>
+        /// Availability status of a PCAN-Channel
+        /// </summary>
+        PCAN_CHANNEL_CONDITION   = 13,
+        /// <summary>
+        /// PCAN hardware name parameter
+        /// </summary>
+        PCAN_HARDWARE_NAME       = 14,
+        /// <summary>
+        /// Message reception status of a PCAN-Channel
+        /// </summary>
+        PCAN_RECEIVE_STATUS      = 15,
+        /// <summary>
+        /// CAN-Controller number of a PCAN-Channel
+        /// </summary>
+        PCAN_CONTROLLER_NUMBER   = 16,
+        /// <summary>
+        /// Directory path for PCAN trace files
+        /// </summary>
+        PCAN_TRACE_LOCATION      = 17,
+        /// <summary>
+        /// CAN tracing activation status
+        /// </summary>
+        PCAN_TRACE_STATUS        = 18,
+        /// <summary>
+        /// Configuration of the maximum file size of a CAN trace
+        /// </summary>
+        PCAN_TRACE_SIZE          = 19,
+        /// <summary>
+        /// Configuration of the trace file storing mode (TRACE_FILE_***)
+        /// </summary>
+        PCAN_TRACE_CONFIGURE     = 20,
+        /// <summary>
+        /// Physical identification of a USB based PCAN-Channel by blinking its associated LED
+        /// </summary>
+        PCAN_CHANNEL_IDENTIFYING = 21,
+        /// <summary>
+        /// Capabilities of a PCAN device (FEATURE_***)
+        /// </summary>
+        PCAN_CHANNEL_FEATURES    = 22,
+        /// <summary>
+        /// Using of an existing bit rate (PCAN-View connected to a channel)
+        /// </summary>
+        PCAN_BITRATE_ADAPTING    = 23,
+        /// <summary>
+        /// Configured bit rate as Btr0Btr1 value
+        /// </summary>
+        PCAN_BITRATE_INFO        = 24,
+        /// <summary>
+        /// Configured bit rate as TPCANBitrateFD string
+        /// </summary>
+        PCAN_BITRATE_INFO_FD     = 25,
+        /// <summary>
+        /// Configured nominal CAN Bus speed as Bits per seconds
+        /// </summary>
+        PCAN_BUSSPEED_NOMINAL    = 26,  
+        /// <summary>
+        /// Configured CAN data speed as Bits per seconds
+        /// </summary>
+        PCAN_BUSSPEED_DATA       = 27,
+        /// <summary>
+        /// Remote address of a LAN channel as string in IPv4 format
+        /// </summary>
+        PCAN_IP_ADDRESS          = 28,
+        /// <summary>
+        /// Status of the Virtual PCAN-Gateway Service 
+        /// </summary>
+        PCAN_LAN_SERVICE_STATUS  = 29,
+        /// <summary>
+        /// Status messages reception status within a PCAN-Channel
+        /// </summary>
+        PCAN_ALLOW_STATUS_FRAMES = 30,
+        /// <summary>
+        /// RTR messages reception status within a PCAN-Channel
+        /// </summary>
+        PCAN_ALLOW_RTR_FRAMES = 31,
+        /// <summary>
+        /// Error messages reception status within a PCAN-Channel
+        /// </summary>
+        PCAN_ALLOW_ERROR_FRAMES = 32,
+        /// <summary>
+        /// Delay, in microseconds, between sending frames
+        /// </summary>
+        PCAN_INTERFRAME_DELAY = 33,
+        /// <summary>
+        /// Filter over code and mask patterns for 11-Bit messages
+        /// </summary>
+        PCAN_ACCEPTANCE_FILTER_11BIT = 34,
+        /// <summary>
+        /// Filter over code and mask patterns for 29-Bit messages
+        /// </summary>
+        PCAN_ACCEPTANCE_FILTER_29BIT = 35,
+        /// <summary>
+        /// Output mode of 32 digital I/O pin of a PCAN-USB Chip. 1: Output-Active 0 : Output Inactive
+        /// </summary>
+        PCAN_IO_DIGITAL_CONFIGURATION = 36,
+        /// <summary>
+        /// Value assigned to a 32 digital I/O pins of a PCAN-USB Chip
+        /// </summary>
+        PCAN_IO_DIGITAL_VALUE = 37,
+        /// <summary>
+        /// Value assigned to a 32 digital I/O pins of a PCAN-USB Chip - Multiple digital I/O pins to 1 = High
+        /// </summary>
+        PCAN_IO_DIGITAL_SET = 38,
+        /// <summary>
+        /// Clear multiple digital I/O pins to 0
+        /// </summary>
+        PCAN_IO_DIGITAL_CLEAR = 39,
+        /// <summary>
+        /// Get value of a single analog input pin
+        /// </summary>
+        PCAN_IO_ANALOG_VALUE = 40,
+        /// <summary>
+        /// Get the version of the firmware used by the device associated with a PCAN-Channel
+        /// </summary>
+        PCAN_FIRMWARE_VERSION = 41,
+        /// <summary>
+        /// Get the amount of PCAN channels attached to a system
+        /// </summary>
+        PCAN_ATTACHED_CHANNELS_COUNT = 42,
+        /// <summary>
+        /// Get information about PCAN channels attached to a system
+        /// </summary>
+        PCAN_ATTACHED_CHANNELS = 43,
+        /// <summary>
+        /// Echo messages reception status within a PCAN-Channel
+        /// </summary>
+        PCAN_ALLOW_ECHO_FRAMES = 44,
+        /// <summary>
+        /// Get the part number associated to a device
+        /// </summary>
+        PCAN_DEVICE_PART_NUMBER = 45,
+    }
+
+    /// <summary>
+    /// Represents the type of a PCAN message
+    /// </summary>
+    [Flags]
+    public enum TPCANMessageType : byte
+    {
+        /// <summary>
+        /// The PCAN message is a CAN Standard Frame (11-bit identifier)
+        /// </summary>
+        PCAN_MESSAGE_STANDARD  = 0x00,
+        /// <summary>
+        /// The PCAN message is a CAN Remote-Transfer-Request Frame
+        /// </summary>
+        PCAN_MESSAGE_RTR       = 0x01,
+        /// <summary>
+        /// The PCAN message is a CAN Extended Frame (29-bit identifier)
+        /// </summary>
+        PCAN_MESSAGE_EXTENDED  = 0x02,
+        /// <summary>
+        /// The PCAN message represents a FD frame in terms of CiA Specs
+        /// </summary>
+        PCAN_MESSAGE_FD = 0x04,
+        /// <summary>
+        /// The PCAN message represents a FD bit rate switch (CAN data at a higher bit rate)
+        /// </summary>
+        PCAN_MESSAGE_BRS = 0x08,
+        /// <summary>
+        /// The PCAN message represents a FD error state indicator(CAN FD transmitter was error active)
+        /// </summary>
+        PCAN_MESSAGE_ESI = 0x10,
+        /// <summary>
+        /// The PCAN message represents an echo CAN Frame
+        /// </summary>
+        PCAN_MESSAGE_ECHO = 0x20,
+        /// <summary>
+        /// The PCAN message represents an error frame
+        /// </summary>
+        PCAN_MESSAGE_ERRFRAME = 0x40,
+        /// <summary>
+        /// The PCAN message represents a PCAN status message
+        /// </summary>
+        PCAN_MESSAGE_STATUS    = 0x80,
+    }
+
+    /// <summary>
+    /// Represents a PCAN filter mode
+    /// </summary>
+    public enum TPCANMode : byte
+    {
+        /// <summary>
+        /// Mode is Standard (11-bit identifier)
+        /// </summary>
+        PCAN_MODE_STANDARD = TPCANMessageType.PCAN_MESSAGE_STANDARD,
+        /// <summary>
+        /// Mode is Extended (29-bit identifier)
+        /// </summary>
+        PCAN_MODE_EXTENDED = TPCANMessageType.PCAN_MESSAGE_EXTENDED,
+    }
+
+    /// <summary>
+    /// Represents a PCAN Baud rate register value
+    /// </summary>
+    public enum TPCANBaudrate : ushort
+    {
+        /// <summary>
+        /// 1 MBit/s
+        /// </summary>
+        PCAN_BAUD_1M      = 0x0014,
+        /// <summary>
+        /// 800 KBit/s
+        /// </summary>
+        PCAN_BAUD_800K    = 0x0016,
+        /// <summary>
+        /// 500 kBit/s
+        /// </summary>
+        PCAN_BAUD_500K    = 0x001C,
+        /// <summary>
+        /// 250 kBit/s
+        /// </summary>
+        PCAN_BAUD_250K    = 0x011C,
+        /// <summary>
+        /// 125 kBit/s
+        /// </summary>
+        PCAN_BAUD_125K    = 0x031C,
+        /// <summary>
+        /// 100 kBit/s
+        /// </summary>
+        PCAN_BAUD_100K    = 0x432F,
+        /// <summary>
+        /// 95,238 KBit/s
+        /// </summary>
+        PCAN_BAUD_95K     = 0xC34E,
+        /// <summary>
+        /// 83,333 KBit/s
+        /// </summary>
+        PCAN_BAUD_83K     = 0x852B,
+        /// <summary>
+        /// 50 kBit/s
+        /// </summary>
+        PCAN_BAUD_50K     = 0x472F,
+        /// <summary>
+        /// 47,619 KBit/s
+        /// </summary>
+        PCAN_BAUD_47K     = 0x1414,
+        /// <summary>
+        /// 33,333 KBit/s
+        /// </summary>
+        PCAN_BAUD_33K     = 0x8B2F,
+        /// <summary>
+        /// 20 kBit/s
+        /// </summary>
+        PCAN_BAUD_20K     = 0x532F,
+        /// <summary>
+        /// 10 kBit/s
+        /// </summary>
+        PCAN_BAUD_10K     = 0x672F,
+        /// <summary>
+        /// 5 kBit/s
+        /// </summary>
+        PCAN_BAUD_5K      = 0x7F7F,
+    }
+
+    /// <summary>
+    /// Represents the type of PCAN (Non-PnP) hardware to be initialized
+    /// </summary>
+    public enum TPCANType : byte
+    {
+        /// <summary>
+        /// PCAN-ISA 82C200
+        /// </summary>
+        PCAN_TYPE_ISA           = 0x01,
+        /// <summary>
+        /// PCAN-ISA SJA1000
+        /// </summary>
+        PCAN_TYPE_ISA_SJA       = 0x09,
+        /// <summary>
+        /// PHYTEC ISA 
+        /// </summary>
+        PCAN_TYPE_ISA_PHYTEC    = 0x04,
+        /// <summary>
+        /// PCAN-Dongle 82C200
+        /// </summary>
+        PCAN_TYPE_DNG           = 0x02,
+        /// <summary>
+        /// PCAN-Dongle EPP 82C200
+        /// </summary>
+        PCAN_TYPE_DNG_EPP       = 0x03,
+        /// <summary>
+        /// PCAN-Dongle SJA1000
+        /// </summary>
+        PCAN_TYPE_DNG_SJA       = 0x05,
+        /// <summary>
+        /// PCAN-Dongle EPP SJA1000
+        /// </summary>
+        PCAN_TYPE_DNG_SJA_EPP   = 0x06,
+    }
+    #endregion
+
+    #region Structures
+    /// <summary>
+    /// Represents a PCAN message
+    /// </summary>
+    public struct TPCANMsg
+    {
+        /// <summary>
+        /// 11/29-bit message identifier
+        /// </summary>
+        public uint ID;
+        /// <summary>
+        /// Type of the message
+        /// </summary>
+        [MarshalAs(UnmanagedType.U1)]
+        public TPCANMessageType MSGTYPE;  
+        /// <summary>
+        /// Data Length Code of the message (0..8)
+        /// </summary>
+        public byte LEN;      
+        /// <summary>
+        /// Data of the message (DATA[0]..DATA[7])
+        /// </summary>
+        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 8)]
+        public byte[] DATA;   
+    }
+
+    /// <summary>
+    /// Represents a timestamp of a received PCAN message.
+    /// Total Microseconds = micros + 1000 * millis + 0x100000000 * 1000 * millis_overflow
+    /// </summary>
+    public struct TPCANTimestamp
+    {
+        /// <summary>
+        /// Base-value: milliseconds: 0.. 2^32-1
+        /// </summary>
+        public uint millis;             
+        /// <summary>
+        /// Roll-arounds of millis
+        /// </summary>
+        public ushort millis_overflow;  
+        /// <summary>
+        /// Microseconds: 0..999
+        /// </summary>
+        public ushort micros;
+    }
+
+    /// <summary>
+    /// Represents a PCAN message from a FD capable hardware
+    /// </summary>
+    public struct TPCANMsgFD
+    {
+        /// <summary>
+        /// 11/29-bit message identifier
+        /// </summary>
+        public uint ID;
+        /// <summary>
+        /// Type of the message
+        /// </summary>
+        [MarshalAs(UnmanagedType.U1)]
+        public TPCANMessageType MSGTYPE;
+        /// <summary>
+        /// Data Length Code of the message (0..15)
+        /// </summary>
+        public byte DLC;
+        /// <summary>
+        /// Data of the message (DATA[0]..DATA[63])
+        /// </summary>
+        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)]
+        public byte[] DATA;
+    }
+
+    /// <summary>
+    /// Describes an available PCAN channel
+    /// </summary>
+    public struct TPCANChannelInformation
+    {
+        /// <summary>
+        /// PCAN channel handle
+        /// </summary>
+        [MarshalAs(UnmanagedType.U2)]
+        public TPCANHandle channel_handle;
+        /// <summary>
+        /// Kind of PCAN device
+        /// </summary>
+        [MarshalAs(UnmanagedType.U1)]
+        public TPCANDevice device_type;
+        /// <summary>
+        /// CAN-Controller number
+        /// </summary>
+        public byte controller_number;
+        /// <summary>
+        /// Device capabilities flag (see FEATURE_*)
+        /// </summary>
+        public uint device_features;
+        /// <summary>
+        /// Device name
+        /// </summary>
+        [MarshalAs(UnmanagedType.ByValTStr, SizeConst = PCANBasic.MAX_LENGTH_HARDWARE_NAME)]
+        public string device_name;
+        /// <summary>
+        /// Device number
+        /// </summary>
+        public uint device_id;
+        /// <summary>
+        /// Availability status of a PCAN-Channel
+        /// </summary>
+        public uint channel_condition;
+    }
+    #endregion
+
+    #region PCANBasic class
+    /// <summary>
+    /// PCAN-Basic API class implementation
+    /// </summary>
+    public static class PCANBasic
+    {
+        #region PCAN-BUS Handles Definition
+        /// <summary>
+        /// Undefined/default value for a PCAN bus
+        /// </summary>
+        public const TPCANHandle PCAN_NONEBUS = 0x00;
+        
+        /// <summary>
+        /// PCAN-ISA interface, channel 1
+        /// </summary>
+        public const TPCANHandle PCAN_ISABUS1 = 0x21;
+        /// <summary>
+        /// PCAN-ISA interface, channel 2
+        /// </summary>
+        public const TPCANHandle PCAN_ISABUS2 = 0x22;
+        /// <summary>
+        /// PCAN-ISA interface, channel 3
+        /// </summary>
+        public const TPCANHandle PCAN_ISABUS3 = 0x23;
+        /// <summary>
+        /// PCAN-ISA interface, channel 4
+        /// </summary>
+        public const TPCANHandle PCAN_ISABUS4 = 0x24;
+        /// <summary>
+        /// PCAN-ISA interface, channel 5
+        /// </summary>
+        public const TPCANHandle PCAN_ISABUS5 = 0x25;
+        /// <summary>
+        /// PCAN-ISA interface, channel 6
+        /// </summary>
+        public const TPCANHandle PCAN_ISABUS6 = 0x26;
+        /// <summary>
+        /// PCAN-ISA interface, channel 7
+        /// </summary>
+        public const TPCANHandle PCAN_ISABUS7 = 0x27;
+        /// <summary>
+        /// PCAN-ISA interface, channel 8
+        /// </summary>
+        public const TPCANHandle PCAN_ISABUS8 = 0x28;
+        
+        /// <summary>
+        /// PPCAN-Dongle/LPT interface, channel 1 
+        /// </summary>
+        public const TPCANHandle PCAN_DNGBUS1 = 0x31;
+
+        /// <summary>
+        /// PCAN-PCI interface, channel 1
+        /// </summary>
+        public const TPCANHandle PCAN_PCIBUS1 = 0x41;
+        /// <summary>
+        /// PCAN-PCI interface, channel 2
+        /// </summary>
+        public const TPCANHandle PCAN_PCIBUS2 = 0x42;
+        /// <summary>
+        /// PCAN-PCI interface, channel 3
+        /// </summary>
+        public const TPCANHandle PCAN_PCIBUS3 = 0x43;
+        /// <summary>
+        /// PCAN-PCI interface, channel 4
+        /// </summary>
+        public const TPCANHandle PCAN_PCIBUS4 = 0x44;
+        /// <summary>
+        /// PCAN-PCI interface, channel 5
+        /// </summary>
+        public const TPCANHandle PCAN_PCIBUS5 = 0x45;
+        /// <summary>
+        /// PCAN-PCI interface, channel 6
+        /// </summary>
+        public const TPCANHandle PCAN_PCIBUS6 = 0x46;
+        /// <summary>
+        /// PCAN-PCI interface, channel 7
+        /// </summary>
+        public const TPCANHandle PCAN_PCIBUS7 = 0x47;
+        /// <summary>
+        /// PCAN-PCI interface, channel 8
+        /// </summary>
+        public const TPCANHandle PCAN_PCIBUS8 = 0x48;
+        /// <summary>
+        /// PCAN-PCI interface, channel 9
+        /// </summary>
+        public const TPCANHandle PCAN_PCIBUS9 = 0x409;
+        /// <summary>
+        /// PCAN-PCI interface, channel 10
+        /// </summary>
+        public const TPCANHandle PCAN_PCIBUS10 = 0x40A;
+        /// <summary>
+        /// PCAN-PCI interface, channel 11
+        /// </summary>
+        public const TPCANHandle PCAN_PCIBUS11 = 0x40B;
+        /// <summary>
+        /// PCAN-PCI interface, channel 12
+        /// </summary>
+        public const TPCANHandle PCAN_PCIBUS12 = 0x40C;
+        /// <summary>
+        /// PCAN-PCI interface, channel 13
+        /// </summary>
+        public const TPCANHandle PCAN_PCIBUS13 = 0x40D;
+        /// <summary>
+        /// PCAN-PCI interface, channel 14
+        /// </summary>
+        public const TPCANHandle PCAN_PCIBUS14 = 0x40E;
+        /// <summary>
+        /// PCAN-PCI interface, channel 15
+        /// </summary>
+        public const TPCANHandle PCAN_PCIBUS15 = 0x40F;
+        /// <summary>
+        /// PCAN-PCI interface, channel 16
+        /// </summary>
+        public const TPCANHandle PCAN_PCIBUS16 = 0x410;
+
+        /// <summary>
+        /// PCAN-USB interface, channel 1
+        /// </summary>
+        public const TPCANHandle PCAN_USBBUS1 = 0x51;
+        /// <summary>
+        /// PCAN-USB interface, channel 2
+        /// </summary>
+        public const TPCANHandle PCAN_USBBUS2 = 0x52;
+        /// <summary>
+        /// PCAN-USB interface, channel 3
+        /// </summary>
+        public const TPCANHandle PCAN_USBBUS3 = 0x53;
+        /// <summary>
+        /// PCAN-USB interface, channel 4
+        /// </summary>
+        public const TPCANHandle PCAN_USBBUS4 = 0x54;
+        /// <summary>
+        /// PCAN-USB interface, channel 5
+        /// </summary>
+        public const TPCANHandle PCAN_USBBUS5 = 0x55;
+        /// <summary>
+        /// PCAN-USB interface, channel 6
+        /// </summary>
+        public const TPCANHandle PCAN_USBBUS6 = 0x56;
+        /// <summary>
+        /// PCAN-USB interface, channel 7
+        /// </summary>
+        public const TPCANHandle PCAN_USBBUS7 = 0x57;
+        /// <summary>
+        /// PCAN-USB interface, channel 8
+        /// </summary>
+        public const TPCANHandle PCAN_USBBUS8 = 0x58;
+        /// <summary>
+        /// PCAN-USB interface, channel 9
+        /// </summary>
+        public const TPCANHandle PCAN_USBBUS9 = 0x509;
+        /// <summary>
+        /// PCAN-USB interface, channel 10
+        /// </summary>
+        public const TPCANHandle PCAN_USBBUS10 = 0x50A;
+        /// <summary>
+        /// PCAN-USB interface, channel 11
+        /// </summary>
+        public const TPCANHandle PCAN_USBBUS11 = 0x50B;
+        /// <summary>
+        /// PCAN-USB interface, channel 12
+        /// </summary>
+        public const TPCANHandle PCAN_USBBUS12 = 0x50C;
+        /// <summary>
+        /// PCAN-USB interface, channel 13
+        /// </summary>
+        public const TPCANHandle PCAN_USBBUS13 = 0x50D;
+        /// <summary>
+        /// PCAN-USB interface, channel 14
+        /// </summary>
+        public const TPCANHandle PCAN_USBBUS14 = 0x50E;
+        /// <summary>
+        /// PCAN-USB interface, channel 15
+        /// </summary>
+        public const TPCANHandle PCAN_USBBUS15 = 0x50F;
+        /// <summary>
+        /// PCAN-USB interface, channel 16
+        /// </summary>
+        public const TPCANHandle PCAN_USBBUS16 = 0x510;
+
+        /// <summary>
+        /// PCAN-PC Card interface, channel 1
+        /// </summary>
+        public const TPCANHandle PCAN_PCCBUS1 = 0x61;
+        /// <summary>
+        /// PCAN-PC Card interface, channel 2
+        /// </summary>
+        public const TPCANHandle PCAN_PCCBUS2 = 0x62;
+
+        /// <summary>
+        /// PCAN-LAN interface, channel 1
+        /// </summary>
+        public const TPCANHandle PCAN_LANBUS1 = 0x801;
+        /// <summary>
+        /// PCAN-LAN interface, channel 2
+        /// </summary>
+        public const TPCANHandle PCAN_LANBUS2 = 0x802;
+        /// <summary>
+        /// PCAN-LAN interface, channel 3
+        /// </summary>
+        public const TPCANHandle PCAN_LANBUS3 = 0x803;
+        /// <summary>
+        /// PCAN-LAN interface, channel 4
+        /// </summary>
+        public const TPCANHandle PCAN_LANBUS4 = 0x804;
+        /// <summary>
+        /// PCAN-LAN interface, channel 5
+        /// </summary>
+        public const TPCANHandle PCAN_LANBUS5 = 0x805;
+        /// <summary>
+        /// PCAN-LAN interface, channel 6
+        /// </summary>
+        public const TPCANHandle PCAN_LANBUS6 = 0x806;
+        /// <summary>
+        /// PCAN-LAN interface, channel 7
+        /// </summary>
+        public const TPCANHandle PCAN_LANBUS7 = 0x807;
+        /// <summary>
+        /// PCAN-LAN interface, channel 8
+        /// </summary>
+        public const TPCANHandle PCAN_LANBUS8 = 0x808;
+        /// <summary>
+        /// PCAN-LAN interface, channel 9
+        /// </summary>
+        public const TPCANHandle PCAN_LANBUS9 = 0x809;
+        /// <summary>
+        /// PCAN-LAN interface, channel 10
+        /// </summary>
+        public const TPCANHandle PCAN_LANBUS10 = 0x80A;
+        /// <summary>
+        /// PCAN-LAN interface, channel 11
+        /// </summary>
+        public const TPCANHandle PCAN_LANBUS11 = 0x80B;
+        /// <summary>
+        /// PCAN-LAN interface, channel 12
+        /// </summary>
+        public const TPCANHandle PCAN_LANBUS12 = 0x80C;
+        /// <summary>
+        /// PCAN-LAN interface, channel 13
+        /// </summary>
+        public const TPCANHandle PCAN_LANBUS13 = 0x80D;
+        /// <summary>
+        /// PCAN-LAN interface, channel 14
+        /// </summary>
+        public const TPCANHandle PCAN_LANBUS14 = 0x80E;
+        /// <summary>
+        /// PCAN-LAN interface, channel 15
+        /// </summary>
+        public const TPCANHandle PCAN_LANBUS15 = 0x80F;
+        /// <summary>
+        /// PCAN-LAN interface, channel 16
+        /// </summary>
+        public const TPCANHandle PCAN_LANBUS16 = 0x810;
+        #endregion
+
+        #region FD Bit rate parameters
+        /// <summary>
+        /// Clock frequency in Herz (80000000, 60000000, 40000000, 30000000, 24000000, 20000000)
+        /// </summary>
+        public const string PCAN_BR_CLOCK = "f_clock";
+        /// <summary>
+        /// Clock frequency in Megaherz (80, 60, 40, 30, 24, 20)
+        /// </summary>
+        public const string PCAN_BR_CLOCK_MHZ = "f_clock_mhz";
+        /// <summary>
+        /// Clock prescaler for nominal time quantum
+        /// </summary>
+        public const string PCAN_BR_NOM_BRP = "nom_brp";
+        /// <summary>
+        /// TSEG1 segment for nominal bit rate in time quanta
+        /// </summary>
+        public const string PCAN_BR_NOM_TSEG1 = "nom_tseg1";
+        /// <summary>
+        /// TSEG2 segment for nominal bit rate in time quanta
+        /// </summary>
+        public const string PCAN_BR_NOM_TSEG2 = "nom_tseg2";
+        /// <summary>
+        /// Synchronization Jump Width for nominal bit rate in time quanta
+        /// </summary>
+        public const string PCAN_BR_NOM_SJW = "nom_sjw";
+        /// <summary>
+        /// Sample point for nominal bit rate
+        /// </summary>
+        public const string PCAN_BR_NOM_SAMPLE = "nom_sam";
+        /// <summary>
+        /// Clock prescaler for highspeed data time quantum
+        /// </summary>
+        public const string PCAN_BR_DATA_BRP = "data_brp";
+        /// <summary>
+        /// TSEG1 segment for fast data bit rate in time quanta
+        /// </summary>
+        public const string PCAN_BR_DATA_TSEG1 = "data_tseg1";
+        /// <summary>
+        /// TSEG2 segment for fast data bit rate in time quanta
+        /// </summary>
+        public const string PCAN_BR_DATA_TSEG2 = "data_tseg2";
+        /// <summary>
+        /// Synchronization Jump Width for highspeed data bit rate in time quanta
+        /// </summary>
+        public const string PCAN_BR_DATA_SJW = "data_sjw";
+        /// <summary>
+        /// Secondary sample point delay for highspeed data bit rate in cyles
+        /// </summary>
+        public const string PCAN_BR_DATA_SAMPLE = "data_ssp_offset";
+        #endregion
+
+        #region Parameter values definition
+        /// <summary>
+        /// The PCAN parameter is not set (inactive)
+        /// </summary>
+        public const int PCAN_PARAMETER_OFF = 0;
+        /// <summary>
+        /// The PCAN parameter is set (active)
+        /// </summary>
+        public const int PCAN_PARAMETER_ON = 1;
+        /// <summary>
+        /// The PCAN filter is closed. No messages will be received
+        /// </summary>
+        public const int PCAN_FILTER_CLOSE = 0;
+        /// <summary>
+        /// The PCAN filter is fully opened. All messages will be received
+        /// </summary>
+        public const int PCAN_FILTER_OPEN = 1;
+        /// <summary>
+        /// The PCAN filter is custom configured. Only registered 
+        /// messages will be received
+        /// </summary>
+        public const int PCAN_FILTER_CUSTOM = 2;
+        /// <summary>
+        /// The PCAN-Channel handle is illegal, or its associated hardware is not available
+        /// </summary>
+        public const int PCAN_CHANNEL_UNAVAILABLE = 0;
+        /// <summary>
+        /// The PCAN-Channel handle is available to be connected (PnP Hardware: it means furthermore that the hardware is plugged-in)
+        /// </summary>
+        public const int PCAN_CHANNEL_AVAILABLE = 1;
+        /// <summary>
+        /// The PCAN-Channel handle is valid, and is already being used
+        /// </summary>
+        public const int PCAN_CHANNEL_OCCUPIED = 2;
+        /// <summary>
+        /// The PCAN-Channel handle is already being used by a PCAN-View application, but is available to connect
+        /// </summary>
+        public const int PCAN_CHANNEL_PCANVIEW = (PCAN_CHANNEL_AVAILABLE | PCAN_CHANNEL_OCCUPIED);
+
+        /// <summary>
+        /// Logs system exceptions / errors
+        /// </summary>
+        public const int LOG_FUNCTION_DEFAULT = 0x00;
+        /// <summary>
+        /// Logs the entries to the PCAN-Basic API functions 
+        /// </summary>
+        public const int LOG_FUNCTION_ENTRY = 0x01;
+        /// <summary>
+        /// Logs the parameters passed to the PCAN-Basic API functions 
+        /// </summary>
+        public const int LOG_FUNCTION_PARAMETERS = 0x02;
+        /// <summary>
+        /// Logs the exits from the PCAN-Basic API functions 
+        /// </summary>
+        public const int LOG_FUNCTION_LEAVE = 0x04;
+        /// <summary>
+        /// Logs the CAN messages passed to the CAN_Write function
+        /// </summary>
+        public const int LOG_FUNCTION_WRITE = 0x08;
+        /// <summary>
+        /// Logs the CAN messages received within the CAN_Read function
+        /// </summary>
+        public const int LOG_FUNCTION_READ = 0x10;
+        /// <summary>
+        /// Logs all possible information within the PCAN-Basic API functions
+        /// </summary>
+        public const int LOG_FUNCTION_ALL = 0xFFFF;
+
+        /// <summary>
+        /// A single file is written until it size reaches PAN_TRACE_SIZE
+        /// </summary>
+        public const int TRACE_FILE_SINGLE = 0x00;
+        /// <summary>
+        /// Traced data is distributed in several files with size PAN_TRACE_SIZE
+        /// </summary>
+        public const int TRACE_FILE_SEGMENTED = 0x01;
+        /// <summary>
+        /// Includes the date into the name of the trace file
+        /// </summary>
+        public const int TRACE_FILE_DATE = 0x02;
+        /// <summary>
+        /// Includes the start time into the name of the trace file
+        /// </summary>
+        public const int TRACE_FILE_TIME = 0x04;
+        /// <summary>
+        /// Causes the overwriting of available traces (same name)
+        /// </summary>
+        public const int TRACE_FILE_OVERWRITE = 0x80;
+
+        /// <summary>
+        /// Device supports flexible data-rate (CAN-FD)
+        /// </summary>
+        public const int FEATURE_FD_CAPABLE = 0x01;
+        /// <summary>
+        /// Device supports a delay between sending frames (FPGA based USB devices)
+        /// </summary>
+        public const int FEATURE_DELAY_CAPABLE = 0x02;
+        /// <summary>
+        /// Device supports I/O functionality for electronic circuits (USB-Chip devices)
+        /// </summary>
+        public const int FEATURE_IO_CAPABLE = 0x04;
+
+        /// <summary>
+        /// The service is not running
+        /// </summary>
+        public const int SERVICE_STATUS_STOPPED = 0x01;
+        /// <summary>
+        /// The service is running
+        /// </summary>
+        public const int SERVICE_STATUS_RUNNING = 0x04;
+        #endregion
+
+        #region Lookup Parameters
+        /// <summary>
+        /// Lookup channel by Device type (see PCAN devices e.g. PCAN_USB)
+        /// </summary>
+        public const string LOOKUP_DEVICE_TYPE = "devicetype";
+        /// <summary>
+        /// Lookup channel by device id
+        /// </summary>
+        public const string LOOKUP_DEVICE_ID = "deviceid";
+        /// <summary>
+        /// Lookup channel by CAN controller 0-based index
+        /// </summary>
+        public const string LOOKUP_CONTROLLER_NUMBER = "controllernumber";
+        /// <summary>
+        /// Lookup channel by IP address (LAN channels only)
+        /// </summary>
+        public const string LOOKUP_IP_ADDRESS = "ipaddress";
+        #endregion
+
+        #region Other Constants
+        /// <summary>
+        /// Maximum length of the name of a device: 32 characters + terminator
+        /// </summary>
+        public const int MAX_LENGTH_HARDWARE_NAME = 33;
+        /// <summary>
+        /// Maximum length of a version string: 255 characters + terminator
+        /// </summary>
+        public const int MAX_LENGTH_VERSION_STRING = 256;
+        #endregion
+
+        #region PCANBasic API Implementation
+        /// <summary>
+        /// Initializes a PCAN Channel 
+        /// </summary>
+        /// <param name="Channel">The handle of a PCAN Channel</param>
+        /// <param name="Btr0Btr1">The speed for the communication (BTR0BTR1 code)</param>
+        /// <param name="HwType">Non-PnP: The type of hardware and operation mode</param>
+        /// <param name="IOPort">Non-PnP: The I/O address for the parallel port</param>
+        /// <param name="Interrupt">Non-PnP: Interrupt number of the parallel por</param>
+        /// <returns>A TPCANStatus error code</returns>
+        [DllImport("PCANBasic.dll", EntryPoint = "CAN_Initialize")]
+        public static extern TPCANStatus Initialize(
+            [MarshalAs(UnmanagedType.U2)]
+            TPCANHandle Channel,
+            [MarshalAs(UnmanagedType.U2)]
+            TPCANBaudrate Btr0Btr1,
+            [MarshalAs(UnmanagedType.U1)]
+            TPCANType HwType, 
+            UInt32 IOPort, 
+            UInt16 Interrupt);
+
+        /// <summary>
+        /// Initializes a PCAN Channel
+        /// </summary>
+        /// <param name="Channel">The handle of a PCAN Channel</param>
+        /// <param name="Btr0Btr1">The speed for the communication (BTR0BTR1 code)</param>
+        /// <returns>A TPCANStatus error code</returns>        
+        public static TPCANStatus Initialize(
+            TPCANHandle Channel,
+            TPCANBaudrate Btr0Btr1)
+        {
+            return Initialize(Channel, Btr0Btr1, (TPCANType)0, 0, 0);
+        }
+
+        /// <summary>
+        /// Initializes a FD capable PCAN Channel 
+        /// </summary>
+        /// <param name="Channel">The handle of a FD capable PCAN Channel</param>
+        /// <param name="BitrateFD">The speed for the communication (FD bit rate string)</param>
+        /// <remarks> See PCAN_BR_* values
+        /// Bit rate string must follow the following construction rules:
+        /// * parameters and values must be separated by '='
+        /// * Couples of Parameter/value must be separated by ','
+        /// * Following Parameter must be filled out: f_clock, data_brp, data_sjw, data_tseg1, data_tseg2,
+        ///   nom_brp, nom_sjw, nom_tseg1, nom_tseg2.
+        /// * Following Parameters are optional (not used yet): data_ssp_offset, nom_sam</remarks>
+        /// <example>f_clock=80000000,nom_brp=10,nom_tseg1=5,nom_tseg2=2,nom_sjw=1,data_brp=4,data_tseg1=7,data_tseg2=2,data_sjw=1</example>
+        /// <returns>A TPCANStatus error code</returns>
+        [DllImport("PCANBasic.dll", EntryPoint = "CAN_InitializeFD")]
+        public static extern TPCANStatus InitializeFD(
+            [MarshalAs(UnmanagedType.U2)]
+            TPCANHandle Channel,
+            TPCANBitrateFD BitrateFD);
+
+        /// <summary>
+        /// Uninitializes one or all PCAN Channels initialized by CAN_Initialize
+        /// </summary>
+        /// <remarks>Giving the TPCANHandle value "PCAN_NONEBUS", 
+        /// uninitialize all initialized channels</remarks>
+        /// <param name="Channel">The handle of a PCAN Channel</param>
+        /// <returns>A TPCANStatus error code</returns>
+        [DllImport("PCANBasic.dll", EntryPoint = "CAN_Uninitialize")]
+        public static extern TPCANStatus Uninitialize(
+            [MarshalAs(UnmanagedType.U2)]
+            TPCANHandle Channel);
+
+        /// <summary>
+        /// Resets the receive and transmit queues of the PCAN Channel
+        /// </summary>
+        /// <remarks>A reset of the CAN controller is not performed</remarks>
+        /// <param name="Channel">The handle of a PCAN Channel</param>
+        /// <returns>A TPCANStatus error code</returns>
+        [DllImport("PCANBasic.dll", EntryPoint = "CAN_Reset")]
+        public static extern TPCANStatus Reset(
+            [MarshalAs(UnmanagedType.U2)]
+            TPCANHandle Channel);
+
+        /// <summary>
+        /// Gets the current status of a PCAN Channel
+        /// </summary>
+        /// <param name="Channel">The handle of a PCAN Channel</param>
+        /// <returns>A TPCANStatus error code</returns>
+        [DllImport("PCANBasic.dll", EntryPoint = "CAN_GetStatus")]
+        public static extern TPCANStatus GetStatus(
+            [MarshalAs(UnmanagedType.U2)]
+            TPCANHandle Channel);
+
+        /// <summary>
+        /// Reads a CAN message from the receive queue of a PCAN Channel
+        /// </summary>
+        /// <param name="Channel">The handle of a PCAN Channel</param>
+        /// <param name="MessageBuffer">A TPCANMsg structure buffer to store the CAN message</param>
+        /// <param name="TimestampBuffer">A TPCANTimestamp structure buffer to get
+        /// the reception time of the message</param>
+        /// <returns>A TPCANStatus error code</returns>
+        [DllImport("PCANBasic.dll", EntryPoint = "CAN_Read")]
+        public static extern TPCANStatus Read(
+            [MarshalAs(UnmanagedType.U2)]
+            TPCANHandle Channel,
+            out TPCANMsg MessageBuffer,
+            out TPCANTimestamp TimestampBuffer);
+
+        [DllImport("PCANBasic.dll", EntryPoint = "CAN_Read")]
+        private static extern TPCANStatus Read(
+            [MarshalAs(UnmanagedType.U2)]
+            TPCANHandle Channel,
+            out TPCANMsg MessageBuffer,
+            IntPtr bufferPointer);
+
+        /// <summary>
+        /// Reads a CAN message from the receive queue of a PCAN Channel
+        /// </summary>
+        /// <param name="Channel">The handle of a PCAN Channel</param>
+        /// <param name="MessageBuffer">A TPCANMsg structure buffer to store the CAN message</param>        
+        /// <returns>A TPCANStatus error code</returns>
+        public static TPCANStatus Read(
+            TPCANHandle Channel,
+            out TPCANMsg MessageBuffer)
+        {
+            return Read(Channel, out MessageBuffer, IntPtr.Zero);
+        }
+
+        /// <summary>
+        /// Reads a CAN message from the receive queue of a FD capable PCAN Channel 
+        /// </summary>
+        /// <param name="Channel">The handle of a FD capable PCAN Channel</param>
+        /// <param name="MessageBuffer">A TPCANMsgFD structure buffer to store the CAN message</param>
+        /// <param name="TimestampBuffer">A TPCANTimestampFD buffer to get the
+        /// reception time of the message</param>
+        /// <returns>A TPCANStatus error code</returns>
+        [DllImport("PCANBasic.dll", EntryPoint = "CAN_ReadFD")]
+        public static extern TPCANStatus ReadFD(
+            [MarshalAs(UnmanagedType.U2)]
+            TPCANHandle Channel,
+            out TPCANMsgFD MessageBuffer,
+            out TPCANTimestampFD TimestampBuffer);
+
+        [DllImport("PCANBasic.dll", EntryPoint = "CAN_ReadFD")]
+        private static extern TPCANStatus ReadFD(
+            [MarshalAs(UnmanagedType.U2)]
+            TPCANHandle Channel,
+            out TPCANMsgFD MessageBuffer,
+            IntPtr TimestampBuffer);
+
+        /// <summary>
+        /// Reads a CAN message from the receive queue of a FD capable PCAN Channel 
+        /// </summary>
+        /// <param name="Channel">The handle of a FD capable PCAN Channel</param>
+        /// <param name="MessageBuffer">A TPCANMsgFD structure buffer to store the CAN message</param>
+        /// <returns>A TPCANStatus error code</returns>
+        public static TPCANStatus ReadFD(
+            TPCANHandle Channel,
+            out TPCANMsgFD MessageBuffer)
+        {
+            return ReadFD(Channel, out MessageBuffer, IntPtr.Zero);
+        }
+
+        /// <summary>
+        ///  Transmits a CAN message 
+        /// </summary>
+        /// <param name="Channel">The handle of a PCAN Channel</param>
+        /// <param name="MessageBuffer">A TPCANMsg buffer with the message to be sent</param>
+        /// <returns>A TPCANStatus error code</returns>
+        [DllImport("PCANBasic.dll", EntryPoint = "CAN_Write")]
+        public static extern TPCANStatus Write(
+            [MarshalAs(UnmanagedType.U2)]
+            TPCANHandle Channel,
+            ref TPCANMsg MessageBuffer);
+
+        /// <summary>
+        /// Transmits a CAN message over a FD capable PCAN Channel
+        /// </summary>
+        /// <param name="Channel">The handle of a FD capable PCAN Channel</param>
+        /// <param name="MessageBuffer">A TPCANMsgFD buffer with the message to be sent</param>
+        /// <returns>A TPCANStatus error code</returns>
+        [DllImport("PCANBasic.dll", EntryPoint = "CAN_WriteFD")]
+        public static extern TPCANStatus WriteFD(
+            [MarshalAs(UnmanagedType.U2)]
+            TPCANHandle Channel,
+            ref TPCANMsgFD MessageBuffer);
+
+        /// <summary>
+        /// Configures the reception filter
+        /// </summary>
+        /// <remarks>The message filter will be expanded with every call to 
+        /// this function. If it is desired to reset the filter, please use
+        /// the 'SetValue' function</remarks>
+        /// <param name="Channel">The handle of a PCAN Channel</param>
+        /// <param name="FromID">The lowest CAN ID to be received</param>
+        /// <param name="ToID">The highest CAN ID to be received</param>
+        /// <param name="Mode">Message type, Standard (11-bit identifier) or
+        /// Extended (29-bit identifier)</param>
+        /// <returns>A TPCANStatus error code</returns>
+        [DllImport("PCANBasic.dll", EntryPoint = "CAN_FilterMessages")]
+        public static extern TPCANStatus FilterMessages(
+            [MarshalAs(UnmanagedType.U2)]
+            TPCANHandle Channel,
+            UInt32 FromID,
+            UInt32 ToID,
+            [MarshalAs(UnmanagedType.U1)]
+            TPCANMode Mode);
+
+        /// <summary>
+        /// Retrieves a PCAN Channel value
+        /// </summary>
+        /// <remarks>Parameters can be present or not according with the kind 
+        /// of Hardware (PCAN Channel) being used. If a parameter is not available,
+        /// a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+        /// <param name="Channel">The handle of a PCAN Channel</param>
+        /// <param name="Parameter">The TPCANParameter parameter to get</param>
+        /// <param name="StringBuffer">Buffer for the parameter value</param>
+        /// <param name="BufferLength">Size in bytes of the buffer</param>
+        /// <returns>A TPCANStatus error code</returns>
+        [DllImport("PCANBasic.dll", EntryPoint = "CAN_GetValue")]
+        public static extern TPCANStatus GetValue(
+            [MarshalAs(UnmanagedType.U2)]
+            TPCANHandle Channel,
+            [MarshalAs(UnmanagedType.U1)]
+            TPCANParameter Parameter,
+            StringBuilder StringBuffer,            
+            UInt32 BufferLength);
+
+        /// <summary>
+        /// Retrieves a PCAN Channel value
+        /// </summary>
+        /// <remarks>Parameters can be present or not according with the kind 
+        /// of Hardware (PCAN Channel) being used. If a parameter is not available,
+        /// a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+        /// <param name="Channel">The handle of a PCAN Channel</param>
+        /// <param name="Parameter">The TPCANParameter parameter to get</param>
+        /// <param name="NumericBuffer">Buffer for the parameter value</param>
+        /// <param name="BufferLength">Size in bytes of the buffer</param>
+        /// <returns>A TPCANStatus error code</returns>
+        [DllImport("PCANBasic.dll", EntryPoint = "CAN_GetValue")]
+        public static extern TPCANStatus GetValue(
+            [MarshalAs(UnmanagedType.U2)]
+            TPCANHandle Channel,
+            [MarshalAs(UnmanagedType.U1)]
+            TPCANParameter Parameter,
+            out UInt32 NumericBuffer,
+            UInt32 BufferLength);
+
+        /// <summary>
+        /// Retrieves a PCAN Channel value
+        /// </summary>
+        /// <remarks>Parameters can be present or not according with the kind 
+        /// of Hardware (PCAN Channel) being used. If a parameter is not available,
+        /// a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+        /// <param name="Channel">The handle of a PCAN Channel</param>
+        /// <param name="Parameter">The TPCANParameter parameter to get</param>
+        /// <param name="NumericBuffer">Buffer for the parameter value</param>
+        /// <param name="BufferLength">Size in bytes of the buffer</param>
+        /// <returns>A TPCANStatus error code</returns>
+        [DllImport("PCANBasic.dll", EntryPoint = "CAN_GetValue")]
+        public static extern TPCANStatus GetValue(
+            [MarshalAs(UnmanagedType.U2)]
+            TPCANHandle Channel,
+            [MarshalAs(UnmanagedType.U1)]
+            TPCANParameter Parameter,
+            out UInt64 NumericBuffer,
+            UInt32 BufferLength);
+
+        [DllImport("PCANBasic.dll", EntryPoint = "CAN_GetValue")]
+        private static extern TPCANStatus GetValue(
+            [MarshalAs(UnmanagedType.U2)]
+            TPCANHandle Channel,
+            [MarshalAs(UnmanagedType.U1)]
+            TPCANParameter Parameter,
+            [MarshalAs(UnmanagedType.LPArray, SizeParamIndex = 3)]
+            [In, Out]TPCANChannelInformation[] ChannelsBuffer,
+            UInt32 BufferLength);
+
+        /// <summary>
+        /// Retrieves a PCAN Channel value
+        /// </summary>
+        /// <remarks>Parameters can be present or not according with the kind 
+        /// of Hardware (PCAN Channel) being used. If a parameter is not available,
+        /// a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+        /// <param name="Channel">The handle of a PCAN Channel</param>
+        /// <param name="Parameter">The TPCANParameter parameter to get</param>
+        /// <param name="ChannelsBuffer">Buffer for the parameter value</param>
+        /// <returns>A TPCANStatus error code</returns>
+        public static TPCANStatus GetValue(
+            TPCANHandle Channel,
+            TPCANParameter Parameter,
+            TPCANChannelInformation[] ChannelsBuffer)
+        {
+            if (ChannelsBuffer == null)
+                return TPCANStatus.PCAN_ERROR_ILLPARAMVAL;
+            return GetValue(Channel, Parameter, ChannelsBuffer, (uint)(ChannelsBuffer.Length * Marshal.SizeOf(typeof(TPCANChannelInformation))));
+        }
+
+        /// <summary>
+        /// Configures or sets a PCAN Channel value 
+        /// </summary>
+        /// <remarks>Parameters can be present or not according with the kind 
+        /// of Hardware (PCAN Channel) being used. If a parameter is not available,
+        /// a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+        /// <param name="Channel">The handle of a PCAN Channel</param>
+        /// <param name="Parameter">The TPCANParameter parameter to set</param>
+        /// <param name="NumericBuffer">Buffer with the value to be set</param>
+        /// <param name="BufferLength">Size in bytes of the buffer</param>
+        /// <returns>A TPCANStatus error code</returns>
+        [DllImport("PCANBasic.dll", EntryPoint = "CAN_SetValue")]
+        public static extern TPCANStatus SetValue(
+            [MarshalAs(UnmanagedType.U2)]
+            TPCANHandle Channel,
+            [MarshalAs(UnmanagedType.U1)]
+            TPCANParameter Parameter,
+            ref UInt32 NumericBuffer,
+            UInt32 BufferLength);
+
+        /// <summary>
+        /// Configures or sets a PCAN Channel value 
+        /// </summary>
+        /// <remarks>Parameters can be present or not according with the kind 
+        /// of Hardware (PCAN Channel) being used. If a parameter is not available,
+        /// a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+        /// <param name="Channel">The handle of a PCAN Channel</param>
+        /// <param name="Parameter">The TPCANParameter parameter to set</param>
+        /// <param name="NumericBuffer">Buffer with the value to be set</param>
+        /// <param name="BufferLength">Size in bytes of the buffer</param>
+        /// <returns>A TPCANStatus error code</returns>
+        [DllImport("PCANBasic.dll", EntryPoint = "CAN_SetValue")]
+        public static extern TPCANStatus SetValue(
+            [MarshalAs(UnmanagedType.U2)]
+            TPCANHandle Channel,
+            [MarshalAs(UnmanagedType.U1)]
+            TPCANParameter Parameter,
+            ref UInt64 NumericBuffer,
+            UInt32 BufferLength);
+
+        /// <summary>
+        /// Configures or sets a PCAN Channel value
+        /// </summary>
+        /// <remarks>Parameters can be present or not according with the kind 
+        /// of Hardware (PCAN Channel) being used. If a parameter is not available,
+        /// a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+        /// <param name="Channel">The handle of a PCAN Channel</param>
+        /// <param name="Parameter"></param>
+        /// <param name="StringBuffer">Buffer with the value to be set</param>
+        /// <param name="BufferLength">Size in bytes of the buffer</param>
+        /// <returns>A TPCANStatus error code</returns>
+        [DllImport("PCANBasic.dll", EntryPoint = "CAN_SetValue")]
+        public static extern TPCANStatus SetValue(
+            [MarshalAs(UnmanagedType.U2)]
+            TPCANHandle Channel,
+            [MarshalAs(UnmanagedType.U1)]
+            TPCANParameter Parameter,
+            [MarshalAs(UnmanagedType.LPStr,SizeParamIndex=3)]
+            string StringBuffer,
+            UInt32 BufferLength);
+
+        /// <summary>
+        /// Returns a descriptive text of a given TPCANStatus error 
+        /// code, in any desired language
+        /// </summary>
+        /// <remarks>The current languages available for translation are: 
+        /// Neutral (0x00), German (0x07), English (0x09), Spanish (0x0A),
+        /// Italian (0x10) and French (0x0C)</remarks>
+        /// <param name="Error">A TPCANStatus error code</param>
+        /// <param name="Language">Indicates a 'Primary language ID'</param>
+        /// <param name="StringBuffer">Buffer for the text (must be at least 256 in length)</param>
+        /// <returns>A TPCANStatus error code</returns>
+        [DllImport("PCANBasic.dll", EntryPoint = "CAN_GetErrorText")]
+        public static extern TPCANStatus GetErrorText(
+            [MarshalAs(UnmanagedType.U4)]
+            TPCANStatus Error,
+            UInt16 Language,
+            StringBuilder StringBuffer);
+
+
+        /// <summary>
+        /// Finds a PCAN-Basic channel that matches with the given parameters
+        /// </summary>
+        /// <param name="Parameters">A comma separated string contained pairs of 
+        /// parameter-name/value to be matched within a PCAN-Basic channel</param>
+        /// <param name="FoundChannel">Buffer for returning the PCAN-Basic channel, 
+        /// when found</param>
+        /// <returns>A TPCANStatus error code</returns>
+        [DllImport("PCANBasic.dll", EntryPoint = "CAN_LookUpChannel")]
+        public static extern TPCANStatus LookUpChannel(
+            String Parameters,
+            out TPCANHandle FoundChannel);
+        #endregion
+    }
+    #endregion
+}

third_party/PCAN_Basic/Include/PCANBasic.h

+//  PCANBasic.h
+//
+//  ~~~~~~~~~~~~
+//
+//  PCAN-Basic API
+//
+//  ~~~~~~~~~~~~
+//
+//  ------------------------------------------------------------------
+//  Author : Keneth Wagner
+//  Last change: 2022-07-06
+//
+//  Language: ANSI-C
+//  ------------------------------------------------------------------
+//
+//  Copyright (C) 1999-2022  PEAK-System Technik GmbH, Darmstadt
+//  more Info at http://www.peak-system.com 
+//
+#ifndef __PCANBASICH__
+#define __PCANBASICH__
+
+////////////////////////////////////////////////////////////
+// Value definitions
+////////////////////////////////////////////////////////////
+
+// Currently defined and supported PCAN channels
+//
+#define PCAN_NONEBUS                  0x00U  // Undefined/default value for a PCAN bus
+
+#define PCAN_ISABUS1                  0x21U  // PCAN-ISA interface, channel 1
+#define PCAN_ISABUS2                  0x22U  // PCAN-ISA interface, channel 2
+#define PCAN_ISABUS3                  0x23U  // PCAN-ISA interface, channel 3
+#define PCAN_ISABUS4                  0x24U  // PCAN-ISA interface, channel 4
+#define PCAN_ISABUS5                  0x25U  // PCAN-ISA interface, channel 5
+#define PCAN_ISABUS6                  0x26U  // PCAN-ISA interface, channel 6
+#define PCAN_ISABUS7                  0x27U  // PCAN-ISA interface, channel 7
+#define PCAN_ISABUS8                  0x28U  // PCAN-ISA interface, channel 8
+
+#define PCAN_DNGBUS1                  0x31U  // PCAN-Dongle/LPT interface, channel 1
+
+#define PCAN_PCIBUS1                  0x41U  // PCAN-PCI interface, channel 1
+#define PCAN_PCIBUS2                  0x42U  // PCAN-PCI interface, channel 2
+#define PCAN_PCIBUS3                  0x43U  // PCAN-PCI interface, channel 3
+#define PCAN_PCIBUS4                  0x44U  // PCAN-PCI interface, channel 4
+#define PCAN_PCIBUS5                  0x45U  // PCAN-PCI interface, channel 5
+#define PCAN_PCIBUS6                  0x46U  // PCAN-PCI interface, channel 6
+#define PCAN_PCIBUS7                  0x47U  // PCAN-PCI interface, channel 7
+#define PCAN_PCIBUS8                  0x48U  // PCAN-PCI interface, channel 8
+#define PCAN_PCIBUS9                  0x409U  // PCAN-PCI interface, channel 9
+#define PCAN_PCIBUS10                 0x40AU  // PCAN-PCI interface, channel 10
+#define PCAN_PCIBUS11                 0x40BU  // PCAN-PCI interface, channel 11
+#define PCAN_PCIBUS12                 0x40CU  // PCAN-PCI interface, channel 12
+#define PCAN_PCIBUS13                 0x40DU  // PCAN-PCI interface, channel 13
+#define PCAN_PCIBUS14                 0x40EU  // PCAN-PCI interface, channel 14
+#define PCAN_PCIBUS15                 0x40FU  // PCAN-PCI interface, channel 15
+#define PCAN_PCIBUS16                 0x410U  // PCAN-PCI interface, channel 16
+
+#define PCAN_USBBUS1                  0x51U  // PCAN-USB interface, channel 1
+#define PCAN_USBBUS2                  0x52U  // PCAN-USB interface, channel 2
+#define PCAN_USBBUS3                  0x53U  // PCAN-USB interface, channel 3
+#define PCAN_USBBUS4                  0x54U  // PCAN-USB interface, channel 4
+#define PCAN_USBBUS5                  0x55U  // PCAN-USB interface, channel 5
+#define PCAN_USBBUS6                  0x56U  // PCAN-USB interface, channel 6
+#define PCAN_USBBUS7                  0x57U  // PCAN-USB interface, channel 7
+#define PCAN_USBBUS8                  0x58U  // PCAN-USB interface, channel 8
+#define PCAN_USBBUS9                  0x509U  // PCAN-USB interface, channel 9
+#define PCAN_USBBUS10                 0x50AU  // PCAN-USB interface, channel 10
+#define PCAN_USBBUS11                 0x50BU  // PCAN-USB interface, channel 11
+#define PCAN_USBBUS12                 0x50CU  // PCAN-USB interface, channel 12
+#define PCAN_USBBUS13                 0x50DU  // PCAN-USB interface, channel 13
+#define PCAN_USBBUS14                 0x50EU  // PCAN-USB interface, channel 14
+#define PCAN_USBBUS15                 0x50FU  // PCAN-USB interface, channel 15
+#define PCAN_USBBUS16                 0x510U  // PCAN-USB interface, channel 16
+
+#define PCAN_PCCBUS1                  0x61U  // PCAN-PC Card interface, channel 1
+#define PCAN_PCCBUS2                  0x62U  // PCAN-PC Card interface, channel 2
+
+#define PCAN_LANBUS1                  0x801U  // PCAN-LAN interface, channel 1
+#define PCAN_LANBUS2                  0x802U  // PCAN-LAN interface, channel 2
+#define PCAN_LANBUS3                  0x803U  // PCAN-LAN interface, channel 3
+#define PCAN_LANBUS4                  0x804U  // PCAN-LAN interface, channel 4
+#define PCAN_LANBUS5                  0x805U  // PCAN-LAN interface, channel 5
+#define PCAN_LANBUS6                  0x806U  // PCAN-LAN interface, channel 6
+#define PCAN_LANBUS7                  0x807U  // PCAN-LAN interface, channel 7
+#define PCAN_LANBUS8                  0x808U  // PCAN-LAN interface, channel 8
+#define PCAN_LANBUS9                  0x809U  // PCAN-LAN interface, channel 9
+#define PCAN_LANBUS10                 0x80AU  // PCAN-LAN interface, channel 10
+#define PCAN_LANBUS11                 0x80BU  // PCAN-LAN interface, channel 11
+#define PCAN_LANBUS12                 0x80CU  // PCAN-LAN interface, channel 12
+#define PCAN_LANBUS13                 0x80DU  // PCAN-LAN interface, channel 13
+#define PCAN_LANBUS14                 0x80EU  // PCAN-LAN interface, channel 14
+#define PCAN_LANBUS15                 0x80FU  // PCAN-LAN interface, channel 15
+#define PCAN_LANBUS16                 0x810U  // PCAN-LAN interface, channel 16
+
+// Represent the PCAN error and status codes 
+//
+#define PCAN_ERROR_OK                 0x00000U  // No error 
+#define PCAN_ERROR_XMTFULL            0x00001U  // Transmit buffer in CAN controller is full
+#define PCAN_ERROR_OVERRUN            0x00002U  // CAN controller was read too late
+#define PCAN_ERROR_BUSLIGHT           0x00004U  // Bus error: an error counter reached the 'light' limit
+#define PCAN_ERROR_BUSHEAVY           0x00008U  // Bus error: an error counter reached the 'heavy' limit
+#define PCAN_ERROR_BUSWARNING         PCAN_ERROR_BUSHEAVY // Bus error: an error counter reached the 'warning' limit
+#define PCAN_ERROR_BUSPASSIVE         0x40000U  // Bus error: the CAN controller is error passive
+#define PCAN_ERROR_BUSOFF             0x00010U  // Bus error: the CAN controller is in bus-off state
+#define PCAN_ERROR_ANYBUSERR          (PCAN_ERROR_BUSWARNING | PCAN_ERROR_BUSLIGHT | PCAN_ERROR_BUSHEAVY | PCAN_ERROR_BUSOFF | PCAN_ERROR_BUSPASSIVE) // Mask for all bus errors
+#define PCAN_ERROR_QRCVEMPTY          0x00020U  // Receive queue is empty
+#define PCAN_ERROR_QOVERRUN           0x00040U  // Receive queue was read too late
+#define PCAN_ERROR_QXMTFULL           0x00080U  // Transmit queue is full
+#define PCAN_ERROR_REGTEST            0x00100U  // Test of the CAN controller hardware registers failed (no hardware found)
+#define PCAN_ERROR_NODRIVER           0x00200U  // Driver not loaded
+#define PCAN_ERROR_HWINUSE            0x00400U  // Hardware already in use by a Net
+#define PCAN_ERROR_NETINUSE           0x00800U  // A Client is already connected to the Net
+#define PCAN_ERROR_ILLHW              0x01400U  // Hardware handle is invalid
+#define PCAN_ERROR_ILLNET             0x01800U  // Net handle is invalid
+#define PCAN_ERROR_ILLCLIENT          0x01C00U  // Client handle is invalid
+#define PCAN_ERROR_ILLHANDLE          (PCAN_ERROR_ILLHW | PCAN_ERROR_ILLNET | PCAN_ERROR_ILLCLIENT)  // Mask for all handle errors
+#define PCAN_ERROR_RESOURCE           0x02000U  // Resource (FIFO, Client, timeout) cannot be created
+#define PCAN_ERROR_ILLPARAMTYPE       0x04000U  // Invalid parameter
+#define PCAN_ERROR_ILLPARAMVAL        0x08000U  // Invalid parameter value
+#define PCAN_ERROR_UNKNOWN            0x10000U  // Unknown error
+#define PCAN_ERROR_ILLDATA            0x20000U  // Invalid data, function, or action
+#define PCAN_ERROR_ILLMODE            0x80000U  // Driver object state is wrong for the attempted operation
+#define PCAN_ERROR_CAUTION            0x2000000U  // An operation was successfully carried out, however, irregularities were registered
+#define PCAN_ERROR_INITIALIZE         0x4000000U  // Channel is not initialized [Value was changed from 0x40000 to 0x4000000]
+#define PCAN_ERROR_ILLOPERATION       0x8000000U  // Invalid operation [Value was changed from 0x80000 to 0x8000000]
+
+// PCAN devices
+//
+#define PCAN_NONE                     0x00U  // Undefined, unknown or not selected PCAN device value
+#define PCAN_PEAKCAN                  0x01U  // PCAN Non-PnP devices. NOT USED WITHIN PCAN-Basic API
+#define PCAN_ISA                      0x02U  // PCAN-ISA, PCAN-PC/104, and PCAN-PC/104-Plus
+#define PCAN_DNG                      0x03U  // PCAN-Dongle
+#define PCAN_PCI                      0x04U  // PCAN-PCI, PCAN-cPCI, PCAN-miniPCI, and PCAN-PCI Express
+#define PCAN_USB                      0x05U  // PCAN-USB and PCAN-USB Pro
+#define PCAN_PCC                      0x06U  // PCAN-PC Card
+#define PCAN_VIRTUAL                  0x07U  // PCAN Virtual hardware. NOT USED WITHIN PCAN-Basic API
+#define PCAN_LAN                      0x08U  // PCAN Gateway devices
+
+// PCAN parameters
+//
+#define PCAN_DEVICE_ID                0x01U  // Device identifier parameter
+#define PCAN_5VOLTS_POWER             0x02U  // 5-Volt power parameter
+#define PCAN_RECEIVE_EVENT            0x03U  // PCAN receive event handler parameter
+#define PCAN_MESSAGE_FILTER           0x04U  // PCAN message filter parameter
+#define PCAN_API_VERSION              0x05U  // PCAN-Basic API version parameter
+#define PCAN_CHANNEL_VERSION          0x06U  // PCAN device channel version parameter
+#define PCAN_BUSOFF_AUTORESET         0x07U  // PCAN Reset-On-Busoff parameter
+#define PCAN_LISTEN_ONLY              0x08U  // PCAN Listen-Only parameter
+#define PCAN_LOG_LOCATION             0x09U  // Directory path for log files
+#define PCAN_LOG_STATUS               0x0AU  // Debug-Log activation status
+#define PCAN_LOG_CONFIGURE            0x0BU  // Configuration of the debugged information (LOG_FUNCTION_***)
+#define PCAN_LOG_TEXT                 0x0CU  // Custom insertion of text into the log file
+#define PCAN_CHANNEL_CONDITION        0x0DU  // Availability status of a PCAN-Channel
+#define PCAN_HARDWARE_NAME            0x0EU  // PCAN hardware name parameter
+#define PCAN_RECEIVE_STATUS           0x0FU  // Message reception status of a PCAN-Channel
+#define PCAN_CONTROLLER_NUMBER        0x10U  // CAN-Controller number of a PCAN-Channel 
+#define PCAN_TRACE_LOCATION           0x11U  // Directory path for PCAN trace files
+#define PCAN_TRACE_STATUS             0x12U  // CAN tracing activation status
+#define PCAN_TRACE_SIZE               0x13U  // Configuration of the maximum file size of a CAN trace
+#define PCAN_TRACE_CONFIGURE          0x14U  // Configuration of the trace file storing mode (TRACE_FILE_***)
+#define PCAN_CHANNEL_IDENTIFYING      0x15U  // Physical identification of a USB based PCAN-Channel by blinking its associated LED
+#define PCAN_CHANNEL_FEATURES         0x16U  // Capabilities of a PCAN device (FEATURE_***)
+#define PCAN_BITRATE_ADAPTING         0x17U  // Using of an existing bit rate (PCAN-View connected to a channel)
+#define PCAN_BITRATE_INFO             0x18U  // Configured bit rate as Btr0Btr1 value
+#define PCAN_BITRATE_INFO_FD          0x19U  // Configured bit rate as TPCANBitrateFD string
+#define PCAN_BUSSPEED_NOMINAL         0x1AU  // Configured nominal CAN Bus speed as Bits per seconds
+#define PCAN_BUSSPEED_DATA            0x1BU  // Configured CAN data speed as Bits per seconds
+#define PCAN_IP_ADDRESS               0x1CU  // Remote address of a LAN channel as string in IPv4 format
+#define PCAN_LAN_SERVICE_STATUS       0x1DU  // Status of the Virtual PCAN-Gateway Service
+#define PCAN_ALLOW_STATUS_FRAMES      0x1EU  // Status messages reception status within a PCAN-Channel
+#define PCAN_ALLOW_RTR_FRAMES         0x1FU  // RTR messages reception status within a PCAN-Channel
+#define PCAN_ALLOW_ERROR_FRAMES       0x20U  // Error messages reception status within a PCAN-Channel
+#define PCAN_INTERFRAME_DELAY         0x21U  // Delay, in microseconds, between sending frames
+#define PCAN_ACCEPTANCE_FILTER_11BIT  0x22U  // Filter over code and mask patterns for 11-Bit messages
+#define PCAN_ACCEPTANCE_FILTER_29BIT  0x23U  // Filter over code and mask patterns for 29-Bit messages
+#define PCAN_IO_DIGITAL_CONFIGURATION 0x24U  // Output mode of 32 digital I/O pin of a PCAN-USB Chip. 1: Output-Active 0 : Output Inactive
+#define PCAN_IO_DIGITAL_VALUE         0x25U  // Value assigned to a 32 digital I/O pins of a PCAN-USB Chip
+#define PCAN_IO_DIGITAL_SET           0x26U  // Value assigned to a 32 digital I/O pins of a PCAN-USB Chip - Multiple digital I/O pins to 1 = High
+#define PCAN_IO_DIGITAL_CLEAR         0x27U  // Clear multiple digital I/O pins to 0
+#define PCAN_IO_ANALOG_VALUE          0x28U  // Get value of a single analog input pin
+#define PCAN_FIRMWARE_VERSION         0x29U  // Get the version of the firmware used by the device associated with a PCAN-Channel
+#define PCAN_ATTACHED_CHANNELS_COUNT  0x2AU  // Get the amount of PCAN channels attached to a system
+#define PCAN_ATTACHED_CHANNELS        0x2BU  // Get information about PCAN channels attached to a system
+#define PCAN_ALLOW_ECHO_FRAMES        0x2CU  // Echo messages reception status within a PCAN-Channel
+#define PCAN_DEVICE_PART_NUMBER       0x2DU  // Get the part number associated to a device
+
+// DEPRECATED parameters
+//
+#define PCAN_DEVICE_NUMBER            PCAN_DEVICE_ID  // Deprecated parameter. Use PCAN_DEVICE_ID instead 
+
+// PCAN parameter values
+//
+#define PCAN_PARAMETER_OFF            0x00U  // The PCAN parameter is not set (inactive)
+#define PCAN_PARAMETER_ON             0x01U  // The PCAN parameter is set (active)
+#define PCAN_FILTER_CLOSE             0x00U  // The PCAN filter is closed. No messages will be received
+#define PCAN_FILTER_OPEN              0x01U  // The PCAN filter is fully opened. All messages will be received
+#define PCAN_FILTER_CUSTOM            0x02U  // The PCAN filter is custom configured. Only registered messages will be received
+#define PCAN_CHANNEL_UNAVAILABLE      0x00U  // The PCAN-Channel handle is illegal, or its associated hardware is not available
+#define PCAN_CHANNEL_AVAILABLE        0x01U  // The PCAN-Channel handle is available to be connected (PnP Hardware: it means furthermore that the hardware is plugged-in)
+#define PCAN_CHANNEL_OCCUPIED         0x02U  // The PCAN-Channel handle is valid, and is already being used
+#define PCAN_CHANNEL_PCANVIEW         (PCAN_CHANNEL_AVAILABLE |  PCAN_CHANNEL_OCCUPIED) // The PCAN-Channel handle is already being used by a PCAN-View application, but is available to connect
+
+#define LOG_FUNCTION_DEFAULT          0x00U    // Logs system exceptions / errors
+#define LOG_FUNCTION_ENTRY            0x01U    // Logs the entries to the PCAN-Basic API functions 
+#define LOG_FUNCTION_PARAMETERS       0x02U    // Logs the parameters passed to the PCAN-Basic API functions 
+#define LOG_FUNCTION_LEAVE            0x04U    // Logs the exits from the PCAN-Basic API functions 
+#define LOG_FUNCTION_WRITE            0x08U    // Logs the CAN messages passed to the CAN_Write function
+#define LOG_FUNCTION_READ             0x10U    // Logs the CAN messages received within the CAN_Read function
+#define LOG_FUNCTION_ALL              0xFFFFU  // Logs all possible information within the PCAN-Basic API functions
+
+#define TRACE_FILE_SINGLE             0x00U  // A single file is written until it size reaches PAN_TRACE_SIZE
+#define TRACE_FILE_SEGMENTED          0x01U  // Traced data is distributed in several files with size PAN_TRACE_SIZE
+#define TRACE_FILE_DATE               0x02U  // Includes the date into the name of the trace file
+#define TRACE_FILE_TIME               0x04U  // Includes the start time into the name of the trace file
+#define TRACE_FILE_OVERWRITE          0x80U  // Causes the overwriting of available traces (same name)
+
+#define FEATURE_FD_CAPABLE            0x01U  // Device supports flexible data-rate (CAN-FD)
+#define FEATURE_DELAY_CAPABLE         0x02U  // Device supports a delay between sending frames (FPGA based USB devices)
+#define FEATURE_IO_CAPABLE            0x04U  // Device supports I/O functionality for electronic circuits (USB-Chip devices)
+
+#define SERVICE_STATUS_STOPPED        0x01U  // The service is not running
+#define SERVICE_STATUS_RUNNING        0x04U  // The service is running
+
+// Other constants
+//
+#define MAX_LENGTH_HARDWARE_NAME      33     // Maximum length of the name of a device: 32 characters + terminator
+#define MAX_LENGTH_VERSION_STRING     256    // Maximum length of a version string: 255 characters + terminator
+
+// PCAN message types
+//
+#define PCAN_MESSAGE_STANDARD         0x00U  // The PCAN message is a CAN Standard Frame (11-bit identifier)
+#define PCAN_MESSAGE_RTR              0x01U  // The PCAN message is a CAN Remote-Transfer-Request Frame
+#define PCAN_MESSAGE_EXTENDED         0x02U  // The PCAN message is a CAN Extended Frame (29-bit identifier)
+#define PCAN_MESSAGE_FD               0x04U  // The PCAN message represents a FD frame in terms of CiA Specs
+#define PCAN_MESSAGE_BRS              0x08U  // The PCAN message represents a FD bit rate switch (CAN data at a higher bit rate)
+#define PCAN_MESSAGE_ESI              0x10U  // The PCAN message represents a FD error state indicator(CAN FD transmitter was error active)
+#define PCAN_MESSAGE_ECHO	          0x20U  // The PCAN message represents an echo CAN Frame
+#define PCAN_MESSAGE_ERRFRAME         0x40U  // The PCAN message represents an error frame
+#define PCAN_MESSAGE_STATUS           0x80U  // The PCAN message represents a PCAN status message
+
+// LookUp Parameters
+//
+#define LOOKUP_DEVICE_TYPE          __T("devicetype")       // Lookup channel by Device type (see PCAN devices e.g. PCAN_USB)
+#define LOOKUP_DEVICE_ID            __T("deviceid")         // Lookup channel by device id
+#define LOOKUP_CONTROLLER_NUMBER    __T("controllernumber") // Lookup channel by CAN controller 0-based index
+#define LOOKUP_IP_ADDRESS           __T("ipaddress")        // Lookup channel by IP address (LAN channels only)
+
+// Frame Type / Initialization Mode
+//
+#define PCAN_MODE_STANDARD            PCAN_MESSAGE_STANDARD  
+#define PCAN_MODE_EXTENDED            PCAN_MESSAGE_EXTENDED  
+
+// Baud rate codes = BTR0/BTR1 register values for the CAN controller.
+// You can define your own Baud rate with the BTROBTR1 register.
+// Take a look at www.peak-system.com for our free software "BAUDTOOL" 
+// to calculate the BTROBTR1 register for every bit rate and sample point.
+//
+#define PCAN_BAUD_1M                  0x0014U  //   1 MBit/s
+#define PCAN_BAUD_800K                0x0016U  // 800 kBit/s
+#define PCAN_BAUD_500K                0x001CU  // 500 kBit/s
+#define PCAN_BAUD_250K                0x011CU  // 250 kBit/s
+#define PCAN_BAUD_125K                0x031CU  // 125 kBit/s
+#define PCAN_BAUD_100K                0x432FU  // 100 kBit/s
+#define PCAN_BAUD_95K                 0xC34EU  //  95,238 kBit/s
+#define PCAN_BAUD_83K                 0x852BU  //  83,333 kBit/s
+#define PCAN_BAUD_50K                 0x472FU  //  50 kBit/s
+#define PCAN_BAUD_47K                 0x1414U  //  47,619 kBit/s
+#define PCAN_BAUD_33K                 0x8B2FU  //  33,333 kBit/s
+#define PCAN_BAUD_20K                 0x532FU  //  20 kBit/s
+#define PCAN_BAUD_10K                 0x672FU  //  10 kBit/s
+#define PCAN_BAUD_5K                  0x7F7FU  //   5 kBit/s
+
+// Represents the configuration for a CAN bit rate
+// Note: 
+//    * Each parameter and its value must be separated with a '='.
+//    * Each pair of parameter/value must be separated using ','. 
+//
+// Example:
+//    f_clock=80000000,nom_brp=10,nom_tseg1=5,nom_tseg2=2,nom_sjw=1,data_brp=4,data_tseg1=7,data_tseg2=2,data_sjw=1
+//
+#define PCAN_BR_CLOCK                 __T("f_clock")
+#define PCAN_BR_CLOCK_MHZ             __T("f_clock_mhz")
+#define PCAN_BR_NOM_BRP               __T("nom_brp")
+#define PCAN_BR_NOM_TSEG1             __T("nom_tseg1")
+#define PCAN_BR_NOM_TSEG2             __T("nom_tseg2")
+#define PCAN_BR_NOM_SJW               __T("nom_sjw")
+#define PCAN_BR_NOM_SAMPLE            __T("nom_sam")
+#define PCAN_BR_DATA_BRP              __T("data_brp")
+#define PCAN_BR_DATA_TSEG1            __T("data_tseg1")
+#define PCAN_BR_DATA_TSEG2            __T("data_tseg2")
+#define PCAN_BR_DATA_SJW              __T("data_sjw")
+#define PCAN_BR_DATA_SAMPLE           __T("data_ssp_offset")
+
+// Type of PCAN (Non-PnP) hardware
+//
+#define PCAN_TYPE_ISA                 0x01U  // PCAN-ISA 82C200
+#define PCAN_TYPE_ISA_SJA             0x09U  // PCAN-ISA SJA1000
+#define PCAN_TYPE_ISA_PHYTEC          0x04U  // PHYTEC ISA 
+#define PCAN_TYPE_DNG                 0x02U  // PCAN-Dongle 82C200
+#define PCAN_TYPE_DNG_EPP             0x03U  // PCAN-Dongle EPP 82C200
+#define PCAN_TYPE_DNG_SJA             0x05U  // PCAN-Dongle SJA1000
+#define PCAN_TYPE_DNG_SJA_EPP         0x06U  // PCAN-Dongle EPP SJA1000
+
+////////////////////////////////////////////////////////////
+// Type definitions
+////////////////////////////////////////////////////////////
+
+#define TPCANHandle                   WORD   // Represents a PCAN hardware channel handle
+#define TPCANStatus                   DWORD  // Represents a PCAN status/error code
+#define TPCANParameter                BYTE   // Represents a PCAN parameter to be read or set
+#define TPCANDevice                   BYTE   // Represents a PCAN device
+#define TPCANMessageType              BYTE   // Represents the type of a PCAN message
+#define TPCANType                     BYTE   // Represents the type of PCAN hardware to be initialized
+#define TPCANMode                     BYTE   // Represents a PCAN filter mode
+#define TPCANBaudrate                 WORD   // Represents a PCAN Baud rate register value
+#define TPCANBitrateFD                LPSTR  // Represents a PCAN-FD bit rate string
+#define TPCANTimestampFD              UINT64 // Represents a timestamp of a received PCAN FD message
+
+////////////////////////////////////////////////////////////
+// Structure definitions
+////////////////////////////////////////////////////////////
+
+#include <windows.h>
+#include <windef.h>
+
+// Represents a PCAN message
+//
+typedef struct tagTPCANMsg
+{
+    DWORD             ID;      // 11/29-bit message identifier
+    TPCANMessageType  MSGTYPE; // Type of the message
+    BYTE              LEN;     // Data Length Code of the message (0..8)
+    BYTE              DATA[8]; // Data of the message (DATA[0]..DATA[7])
+} TPCANMsg;
+
+// Represents a timestamp of a received PCAN message
+// Total Microseconds = micros + 1000 * millis + 0x100000000 * 1000 * millis_overflow
+//
+typedef struct tagTPCANTimestamp
+{
+    DWORD  millis;             // Base-value: milliseconds: 0.. 2^32-1
+    WORD   millis_overflow;    // Roll-arounds of millis
+    WORD   micros;             // Microseconds: 0..999
+} TPCANTimestamp;
+
+// Represents a PCAN message from a FD capable hardware
+//
+typedef struct tagTPCANMsgFD
+{
+    DWORD             ID;       // 11/29-bit message identifier
+    TPCANMessageType  MSGTYPE;  // Type of the message
+    BYTE              DLC;      // Data Length Code of the message (0..15)
+    BYTE              DATA[64]; // Data of the message (DATA[0]..DATA[63])
+} TPCANMsgFD;
+
+// Describes an available PCAN channel
+//
+typedef struct tagTPCANChannelInformation
+{
+    TPCANHandle channel_handle;                 // PCAN channel handle   
+    TPCANDevice device_type;                    // Kind of PCAN device
+    BYTE controller_number;                     // CAN-Controller number
+    DWORD device_features;                      // Device capabilities flag (see FEATURE_*)
+    char device_name[MAX_LENGTH_HARDWARE_NAME]; // Device name
+    DWORD device_id;                            // Device number   
+    DWORD channel_condition;                    // Availability status of a PCAN-Channel          
+}TPCANChannelInformation;
+
+#ifdef __cplusplus
+extern "C" {
+#define _DEF_ARG =0
+#else
+#define _DEF_ARG
+#endif
+
+////////////////////////////////////////////////////////////
+// PCAN-Basic API function declarations
+////////////////////////////////////////////////////////////
+
+
+/// <summary>
+/// Initializes a PCAN Channel 
+/// </summary>
+/// <param name="Channel">"The handle of a PCAN Channel"</param>
+/// <param name="Btr0Btr1">"The speed for the communication (BTR0BTR1 code)"</param>
+/// <param name="HwType">"Non-PnP: The type of hardware and operation mode"</param>
+/// <param name="IOPort">"Non-PnP: The I/O address for the parallel port"</param>
+/// <param name="Interrupt">"Non-PnP: Interrupt number of the parallel port"</param>
+/// <returns>"A TPCANStatus error code"</returns>
+TPCANStatus __stdcall CAN_Initialize(
+        TPCANHandle Channel, 
+        TPCANBaudrate Btr0Btr1, 
+        TPCANType HwType _DEF_ARG,
+        DWORD IOPort _DEF_ARG, 
+        WORD Interrupt _DEF_ARG);
+
+
+/// <summary>
+/// Initializes a FD capable PCAN Channel  
+/// </summary>
+/// <param name="Channel">"The handle of a FD capable PCAN Channel"</param>
+/// <param name="BitrateFD">"The speed for the communication (FD bit rate string)"</param>
+/// <remarks>See PCAN_BR_* values
+/// * Parameter and values must be separated by '='
+/// * Couples of Parameter/value must be separated by ','
+/// * Following Parameter must be filled out: f_clock, data_brp, data_sjw, data_tseg1, data_tseg2,
+///   nom_brp, nom_sjw, nom_tseg1, nom_tseg2.
+/// * Following Parameters are optional (not used yet): data_ssp_offset, nom_sam
+///</remarks>
+/// <example>f_clock=80000000,nom_brp=10,nom_tseg1=5,nom_tseg2=2,nom_sjw=1,data_brp=4,data_tseg1=7,data_tseg2=2,data_sjw=1</example>
+/// <returns>"A TPCANStatus error code"</returns>
+TPCANStatus __stdcall CAN_InitializeFD(
+    TPCANHandle Channel,
+    TPCANBitrateFD BitrateFD);
+
+
+/// <summary>
+/// Uninitializes one or all PCAN Channels initialized by CAN_Initialize
+/// </summary>
+/// <remarks>Giving the TPCANHandle value "PCAN_NONEBUS", 
+/// uninitialize all initialized channels</remarks>
+/// <param name="Channel">"The handle of a PCAN Channel"</param>
+/// <returns>"A TPCANStatus error code"</returns>
+TPCANStatus __stdcall CAN_Uninitialize(
+        TPCANHandle Channel);
+
+
+/// <summary>
+/// Resets the receive and transmit queues of the PCAN Channel  
+/// </summary>
+/// <remarks>
+/// A reset of the CAN controller is not performed.
+/// </remarks>
+/// <param name="Channel">"The handle of a PCAN Channel"</param>
+/// <returns>"A TPCANStatus error code"</returns>
+TPCANStatus __stdcall CAN_Reset(
+        TPCANHandle Channel);
+
+
+/// <summary>
+/// Gets the current status of a PCAN Channel 
+/// </summary>
+/// <param name="Channel">"The handle of a PCAN Channel"</param>
+/// <returns>"A TPCANStatus error code"</returns>
+TPCANStatus __stdcall CAN_GetStatus(
+        TPCANHandle Channel);
+
+
+/// <summary>
+/// Reads a CAN message from the receive queue of a PCAN Channel 
+/// </summary>
+/// <param name="Channel">"The handle of a PCAN Channel"</param>
+/// <param name="MessageBuffer">"A TPCANMsg structure buffer to store the CAN message"</param>
+/// <param name="TimestampBuffer">"A TPCANTimestamp structure buffer to get 
+/// the reception time of the message. If this value is not desired, this parameter
+/// should be passed as NULL"</param>
+/// <returns>"A TPCANStatus error code"</returns>
+TPCANStatus __stdcall CAN_Read(
+        TPCANHandle Channel, 
+        TPCANMsg* MessageBuffer, 
+        TPCANTimestamp* TimestampBuffer);
+
+
+/// <summary>
+/// Reads a CAN message from the receive queue of a FD capable PCAN Channel 
+/// </summary>
+/// <param name="Channel">"The handle of a FD capable PCAN Channel"</param>
+/// <param name="MessageBuffer">"A TPCANMsgFD structure buffer to store the CAN message"</param>
+/// <param name="TimestampBuffer">"A TPCANTimestampFD buffer to get 
+/// the reception time of the message. If this value is not desired, this parameter
+/// should be passed as NULL"</param>
+/// <returns>"A TPCANStatus error code"</returns>
+TPCANStatus __stdcall CAN_ReadFD(
+    TPCANHandle Channel,
+    TPCANMsgFD* MessageBuffer, 
+    TPCANTimestampFD *TimestampBuffer);
+
+
+/// <summary>
+/// Transmits a CAN message 
+/// </summary>
+/// <param name="Channel">"The handle of a PCAN Channel"</param>
+/// <param name="MessageBuffer">"A TPCANMsg buffer with the message to be sent"</param>
+/// <returns>"A TPCANStatus error code"</returns>
+TPCANStatus __stdcall CAN_Write(
+        TPCANHandle Channel, 
+        TPCANMsg* MessageBuffer);
+
+
+/// <summary>
+/// Transmits a CAN message over a FD capable PCAN Channel
+/// </summary>
+/// <param name="Channel">"The handle of a FD capable PCAN Channel"</param>
+/// <param name="MessageBuffer">"A TPCANMsgFD buffer with the message to be sent"</param>
+/// <returns>"A TPCANStatus error code"</returns>
+TPCANStatus __stdcall CAN_WriteFD(
+    TPCANHandle Channel,
+    TPCANMsgFD* MessageBuffer);
+
+
+/// <summary>
+/// Configures the reception filter. 
+/// </summary>
+/// <remarks>The message filter will be expanded with every call to 
+/// this function. If it is desired to reset the filter, please use 
+/// the CAN_SetValue function</remarks>
+/// <param name="Channel">"The handle of a PCAN Channel"</param>
+/// <param name="FromID">"The lowest CAN ID to be received"</param>
+/// <param name="ToID">"The highest CAN ID to be received"</param>
+/// <param name="Mode">"Message type, Standard (11-bit identifier) or 
+/// Extended (29-bit identifier)"</param>
+/// <returns>"A TPCANStatus error code"</returns>
+TPCANStatus __stdcall CAN_FilterMessages(
+        TPCANHandle Channel, 
+        DWORD FromID, 
+        DWORD ToID, 
+        TPCANMode Mode);
+
+
+/// <summary>
+/// Retrieves a PCAN Channel value
+/// </summary>
+/// <remarks>Parameters can be present or not according with the kind 
+/// of Hardware (PCAN Channel) being used. If a parameter is not available,
+/// a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+/// <param name="Channel">"The handle of a PCAN Channel"</param>
+/// <param name="Parameter">"The TPCANParameter parameter to get"</param>
+/// <param name="Buffer">"Buffer for the parameter value"</param>
+/// <param name="BufferLength">"Size in bytes of the buffer"</param>
+/// <returns>"A TPCANStatus error code"</returns>
+TPCANStatus __stdcall CAN_GetValue(
+        TPCANHandle Channel, 
+        TPCANParameter Parameter,  
+        void* Buffer, 
+        DWORD BufferLength);
+
+
+/// <summary>
+/// Configures or sets a PCAN Channel value 
+/// </summary>
+/// <remarks>Parameters can be present or not according with the kind 
+/// of Hardware (PCAN Channel) being used. If a parameter is not available,
+/// a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+/// <param name="Channel">"The handle of a PCAN Channel"</param>
+/// <param name="Parameter">"The TPCANParameter parameter to set"</param>
+/// <param name="Buffer">"Buffer with the value to be set"</param>
+/// <param name="BufferLength">"Size in bytes of the buffer"</param>
+/// <returns>"A TPCANStatus error code"</returns>
+TPCANStatus __stdcall CAN_SetValue(
+        TPCANHandle Channel,
+        TPCANParameter Parameter,
+        void* Buffer,
+        DWORD BufferLength);
+
+
+/// <summary>
+/// Returns a descriptive text of a given TPCANStatus error 
+/// code, in any desired language
+/// </summary>
+/// <remarks>The current languages available for translation are: 
+/// Neutral (0x00), German (0x07), English (0x09), Spanish (0x0A),
+/// Italian (0x10) and French (0x0C)</remarks>
+/// <param name="Error">"A TPCANStatus error code"</param>
+/// <param name="Language">"Indicates a 'Primary language ID'"</param>
+/// <param name="Buffer">"Buffer for a null terminated char array"</param>
+/// <returns>"A TPCANStatus error code"</returns>
+TPCANStatus __stdcall CAN_GetErrorText(
+        TPCANStatus Error, 
+        WORD Language, 
+        LPSTR Buffer);
+
+/// <summary>
+/// Finds a PCAN-Basic channel that matches with the given parameters
+/// </summary>
+/// <param name="Parameters">A comma separated string contained pairs of 
+/// parameter-name/value to be matched within a PCAN-Basic channel</param>
+/// <param name="FoundChannel">Buffer for returning the PCAN-Basic channel, 
+/// when found</param>
+/// <returns>A TPCANStatus error code</returns>
+TPCANStatus __stdcall CAN_LookUpChannel(
+    LPSTR Parameters, 
+    TPCANHandle* FoundChannel);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
\ No newline at end of file

third_party/PCAN_Basic/Include/PCANBasic.pas

+//  PCANBasic.pas
+//
+//  ~~~~~~~~~~~~
+//
+//  PCAN-Basic API
+//
+//  ~~~~~~~~~~~~
+//
+//  ------------------------------------------------------------------
+//  Author : Keneth Wagner
+//  Last change: 2022-07-06
+//
+//  Language: Object Pascal
+//  ------------------------------------------------------------------
+//
+//  Copyright (C) 1999-2022  PEAK-System Technik GmbH, Darmstadt
+//  more Info at http://www.peak-system.com
+//
+unit PCANBasic;
+
+interface
+Const
+    // Other constants
+    //
+    MAX_LENGTH_HARDWARE_NAME = 33;     // Maximum length of the name of a device: 32 characters + terminator
+    MAX_LENGTH_VERSION_STRING = 256;     // Maximum length of a version string: 255 characters + terminator
+
+type
+  TPCANHandle = Word;
+  PTPCANHandle = ^Word;
+  TPCANBitrateFD = PAnsiChar;
+  TPCANTimestampFD = UInt64;
+  PUInt64 = ^UInt64;
+
+{$Z4}
+  /// <summary>
+  /// Represents a PCAN status/error code
+  /// </summary>
+  TPCANStatus = (
+    /// <summary>
+    /// No error
+    /// </summary>
+    PCAN_ERROR_OK = $00000,
+    /// <summary>
+    /// Transmit buffer in CAN controller is full
+    /// </summary>
+    PCAN_ERROR_XMTFULL = $00001,
+    /// <summary>
+    /// CAN controller was read too late
+    /// </summary>
+    PCAN_ERROR_OVERRUN = $00002,
+    /// <summary>
+    /// Bus error: an error counter reached the 'light' limit
+    /// </summary>
+    PCAN_ERROR_BUSLIGHT = $00004,
+    /// <summary>
+    /// Bus error: an error counter reached the 'heavy' limit
+    /// </summary>
+    PCAN_ERROR_BUSHEAVY = $00008,
+    /// <summary>
+    /// Bus error: an error counter reached the 'warning' limit
+    /// </summary>
+    PCAN_ERROR_BUSWARNING = LongWord(PCAN_ERROR_BUSHEAVY),
+    /// <summary>
+    /// Bus error: the CAN controller is error passive
+    /// </summary>
+    PCAN_ERROR_BUSPASSIVE = $40000,
+    /// <summary>
+    /// Bus error: the CAN controller is in bus-off state
+    /// </summary>
+    PCAN_ERROR_BUSOFF = $00010,
+    /// <summary>
+    /// Mask for all bus errors
+    /// </summary>
+    PCAN_ERROR_ANYBUSERR = LongWord(PCAN_ERROR_BUSWARNING) Or LongWord(PCAN_ERROR_BUSLIGHT) Or LongWord(PCAN_ERROR_BUSHEAVY) Or LongWord(PCAN_ERROR_BUSOFF) Or LongWord(PCAN_ERROR_BUSPASSIVE),
+    /// <summary>
+    /// Receive queue is empty
+    /// </summary>
+    PCAN_ERROR_QRCVEMPTY = $00020,
+    /// <summary>
+    /// Receive queue was read too late
+    /// </summary>
+    PCAN_ERROR_QOVERRUN = $00040,
+    /// <summary>
+    /// Transmit queue is full
+    /// </summary>
+    PCAN_ERROR_QXMTFULL = $00080,
+    /// <summary>
+    /// Test of the CAN controller hardware registers failed (no hardware found)
+    /// </summary>
+    PCAN_ERROR_REGTEST = $00100,
+    /// <summary>
+    /// Driver not loaded
+    /// </summary>
+    PCAN_ERROR_NODRIVER = $00200,
+    /// <summary>
+    /// Hardware already in use by a Net
+    /// </summary>
+    PCAN_ERROR_HWINUSE = $00400,
+    /// <summary>
+    /// A Client is already connected to the Net
+    /// </summary>
+    PCAN_ERROR_NETINUSE = $00800,
+    /// <summary>
+    /// Hardware handle is invalid
+    /// </summary>
+    PCAN_ERROR_ILLHW = $01400,
+    /// <summary>
+    /// Net handle is invalid
+    /// </summary>
+    PCAN_ERROR_ILLNET = $01800,
+    /// <summary>
+    /// Client handle is invalid
+    /// </summary>
+    PCAN_ERROR_ILLCLIENT = $01C00,
+    /// <summary>
+    /// Mask for all handle errors
+    /// </summary>
+    PCAN_ERROR_ILLHANDLE = LongWord(PCAN_ERROR_ILLHW) Or LongWord(PCAN_ERROR_ILLNET) Or LongWord(PCAN_ERROR_ILLCLIENT),
+    /// <summary>
+    /// Resource (FIFO, Client, timeout) cannot be created
+    /// </summary>
+    PCAN_ERROR_RESOURCE = $02000,
+    /// <summary>
+    /// Invalid parameter
+    /// </summary>
+    PCAN_ERROR_ILLPARAMTYPE = $04000,
+    /// <summary>
+    /// Invalid parameter value
+    /// </summary>
+    PCAN_ERROR_ILLPARAMVAL = $08000,
+    /// <summary>
+    /// Unknown error
+    /// </summary>
+    PCAN_ERROR_UNKNOWN = $10000,
+    /// <summary>
+    /// Invalid data, function, or action
+    /// </summary>
+    PCAN_ERROR_ILLDATA = $20000,
+    /// <summary>
+    /// Driver object state is wrong for the attempted operation
+    /// </summary>
+    PCAN_ERROR_ILLMODE = $80000,
+    /// <summary>
+    /// An operation was successfully carried out, however, irregularities were registered
+    /// </summary>
+    PCAN_ERROR_CAUTION = $2000000,
+    /// <summary>
+    /// Channel is not initialized
+    /// <remarks>Value was changed from 0x40000 to 0x4000000</remarks>
+    /// </summary>
+    PCAN_ERROR_INITIALIZE = $4000000,
+    /// <summary>
+    /// Invalid operation
+    /// <remarks>Value was changed from 0x80000 to 0x8000000</remarks>
+    /// </summary>
+    PCAN_ERROR_ILLOPERATION = $8000000
+  );
+
+{$Z1}
+  /// <summary>
+  /// Represents a PCAN device
+  /// </summary>
+  TPCANDevice = (
+    /// <summary>
+    /// Undefined, unknown or not selected PCAN device value
+    /// </summary>
+    PCAN_NONE = 0,
+    /// <summary>
+    /// PCAN Non-PnP devices. NOT USED WITHIN PCAN-Basic API
+    /// </summary>
+    PCAN_PEAKCAN = 1,
+    /// <summary>
+    /// PCAN-ISA, PCAN-PC/104, and PCAN-PC/104-Plus
+    /// </summary>
+    PCAN_ISA = 2,
+    /// <summary>
+    /// PCAN-Dongle
+    /// </summary>
+    PCAN_DNG = 3,
+    /// <summary>
+    /// PCAN-PCI, PCAN-cPCI, PCAN-miniPCI, and PCAN-PCI Express
+    /// </summary>
+    PCAN_PCI = 4,
+    /// <summary>
+    /// PCAN-USB and PCAN-USB Pro
+    /// </summary>
+    PCAN_USB = 5,
+    /// <summary>
+    /// PCAN-PC Card
+    /// </summary>
+    PCAN_PCC = 6,
+    /// <summary>
+    /// PCAN Virtual hardware. NOT USED WITHIN PCAN-Basic API
+    /// </summary>
+    PCAN_VIRTUAL = 7,
+    /// <summary>
+    /// PCAN Gateway devices
+    /// </summary>
+    PCAN_LAN = 8
+  );
+
+  /// <summary>
+  /// Represents a PCAN parameter to be read or set
+  /// </summary>
+  TPCANParameter = (
+    /// <summary>
+    /// Device identifier parameter
+    /// </summary>
+    PCAN_DEVICE_ID = 1,
+    /// <summary>
+    /// DEPRECATED. Use PCAN_DEVICE_ID instead
+    /// </summary>
+    PCAN_DEVICE_NUMBER = PCAN_DEVICE_ID,
+    /// <summary>
+    /// 5-Volt power parameter
+    /// </summary>
+    PCAN_5VOLTS_POWER = 2,
+    /// <summary>
+    /// PCAN receive event handler parameter
+    /// </summary>
+    PCAN_RECEIVE_EVENT = 3,
+    /// <summary>
+    /// PCAN message filter parameter
+    /// </summary>
+    PCAN_MESSAGE_FILTER = 4,
+    /// <summary>
+    /// PCAN-Basic API version parameter
+    /// </summary>
+    PCAN_API_VERSION = 5,
+    /// <summary>
+    /// PCAN device channel version parameter
+    /// </summary>
+    PCAN_CHANNEL_VERSION = 6,
+    /// <summary>
+    /// PCAN Reset-On-Busoff parameter
+    /// </summary>
+    PCAN_BUSOFF_AUTORESET = 7,
+    /// <summary>
+    /// PCAN Listen-Only parameter
+    /// </summary>
+    PCAN_LISTEN_ONLY = 8,
+    /// <summary>
+    /// Directory path for log files
+    /// </summary>
+    PCAN_LOG_LOCATION = 9,
+    /// <summary>
+    /// Debug-Log activation status
+    /// </summary>
+    PCAN_LOG_STATUS = 10,
+    /// <summary>
+    /// Configuration of the debugged information (LOG_FUNCTION_***)
+    /// </summary>
+    PCAN_LOG_CONFIGURE = 11,
+    /// <summary>
+    /// Custom insertion of text into the log file
+    /// </summary>
+    PCAN_LOG_TEXT = 12,
+    /// <summary>
+    /// Availability status of a PCAN-Channel
+    /// </summary>
+    PCAN_CHANNEL_CONDITION = 13,
+    /// <summary>
+    /// PCAN hardware name parameter
+    /// </summary>
+    PCAN_HARDWARE_NAME = 14,
+    /// <summary>
+    /// Message reception status of a PCAN-Channel
+    /// </summary>
+    PCAN_RECEIVE_STATUS = 15,
+    /// <summary>
+    /// CAN-Controller number of a PCAN-Channel
+    /// </summary>
+    PCAN_CONTROLLER_NUMBER = 16,
+    /// <summary>
+    /// Directory path for PCAN trace files
+    /// </summary>
+    PCAN_TRACE_LOCATION = 17,
+    /// <summary>
+    /// CAN tracing activation status
+    /// </summary>
+    PCAN_TRACE_STATUS = 18,
+    /// <summary>
+    /// Configuration of the maximum file size of a CAN trace
+    /// </summary>
+    PCAN_TRACE_SIZE = 19,
+    /// <summary>
+    /// Configuration of the trace file storing mode (TRACE_FILE_***)
+    /// </summary>
+    PCAN_TRACE_CONFIGURE = 20,
+    /// <summary>
+    /// Physical identification of a USB based PCAN-Channel by blinking its associated LED
+    /// </summary>
+    PCAN_CHANNEL_IDENTIFYING = 21,
+    /// <summary>
+    /// Capabilities of a PCAN device (FEATURE_***)
+    /// </summary>
+    PCAN_CHANNEL_FEATURES = 22,
+    /// <summary>
+    /// Using of an existing bit rate (PCAN-View connected to a channel)
+    /// </summary>
+    PCAN_BITRATE_ADAPTING = 23,
+    /// <summary>
+    /// Configured bit rate as Btr0Btr1 value
+    /// </summary>
+    PCAN_BITRATE_INFO = 24,
+    /// <summary>
+    /// Configured bit rate as TPCANBitrateFD string
+    /// </summary>
+    PCAN_BITRATE_INFO_FD = 25,
+    /// <summary>
+    /// Configured nominal CAN Bus speed as Bits per seconds
+    /// </summary>
+    PCAN_BUSSPEED_NOMINAL = 26,
+    /// <summary>
+    /// Configured CAN data speed as Bits per seconds
+    /// </summary>
+    PCAN_BUSSPEED_DATA = 27,
+    /// <summary>
+    /// Remote address of a LAN channel as string in IPv4 format
+    /// </summary>
+    PCAN_IP_ADDRESS = 28,
+    /// <summary>
+    /// Status of the Virtual PCAN-Gateway Service
+    /// </summary>
+    PCAN_LAN_SERVICE_STATUS = 29,
+    /// <summary>
+    /// Status messages reception status within a PCAN-Channel
+    /// </summary>
+    PCAN_ALLOW_STATUS_FRAMES = 30,
+    /// <summary>
+    /// RTR messages reception status within a PCAN-Channel
+    /// </summary>
+    PCAN_ALLOW_RTR_FRAMES = 31,
+    /// <summary>
+    /// Error messages reception status within a PCAN-Channel
+    /// </summary>
+    PCAN_ALLOW_ERROR_FRAMES = 32,
+    /// <summary>
+    /// Delay, in microseconds, between sending frames
+    /// </summary>
+    PCAN_INTERFRAME_DELAY = 33,
+    /// <summary>
+    /// Filter over code and mask patterns for 11-Bit messages
+    /// </summary>
+    PCAN_ACCEPTANCE_FILTER_11BIT = 34,
+    /// <summary>
+    /// Filter over code and mask patterns for 29-Bit messages
+    /// </summary>
+    PCAN_ACCEPTANCE_FILTER_29BIT = 35,
+    /// <summary>
+    /// Output mode of 32 digital I/O pin of a PCAN-USB Chip. 1: Output-Active 0 : Output Inactive
+    /// </summary>
+    PCAN_IO_DIGITAL_CONFIGURATION = 36,
+    /// <summary>
+    /// Value assigned to a 32 digital I/O pins of a PCAN-USB Chip
+    /// </summary>
+    PCAN_IO_DIGITAL_VALUE = 37,
+    /// <summary>
+    /// Value assigned to a 32 digital I/O pins of a PCAN-USB Chip - Multiple digital I/O pins to 1 = High
+    /// </summary>
+    PCAN_IO_DIGITAL_SET = 38,
+    /// <summary>
+    /// Clear multiple digital I/O pins to 0
+    /// </summary>
+    PCAN_IO_DIGITAL_CLEAR = 39,
+    /// <summary>
+    /// Get value of a single analog input pin
+    /// </summary>
+    PCAN_IO_ANALOG_VALUE = 40,
+    /// <summary>
+    /// Get the version of the firmware used by the device associated with a PCAN-Channel
+    /// </summary>
+    PCAN_FIRMWARE_VERSION = 41,
+    /// <summary>
+    /// Get the amount of PCAN channels attached to a system
+    /// </summary>
+    PCAN_ATTACHED_CHANNELS_COUNT = 42,
+    /// <summary>
+    /// Get information about PCAN channels attached to a system
+    /// </summary>
+    PCAN_ATTACHED_CHANNELS = 43,
+    /// <summary>
+    /// Echo messages reception status within a PCAN-Channel
+    /// </summary>
+    PCAN_ALLOW_ECHO_FRAMES = 44,
+    /// <summary>
+    /// Get the part number associated to a device
+    /// </summary>
+    PCAN_DEVICE_PART_NUMBER = 45
+  );
+
+  /// <summary>
+  /// Represents the type of a PCAN message
+  /// </summary>
+  TPCANMessageType = (
+    /// <summary>
+    /// The PCAN message is a CAN Standard Frame (11-bit identifier)
+    /// </summary>
+    PCAN_MESSAGE_STANDARD = $00,
+    /// <summary>
+    /// The PCAN message is a CAN Remote-Transfer-Request Frame
+    /// </summary>
+    PCAN_MESSAGE_RTR = $01,
+    /// <summary>
+    /// The PCAN message is a CAN Extended Frame (29-bit identifier)
+    /// </summary>
+    PCAN_MESSAGE_EXTENDED = $02,
+    /// <summary>
+    /// The PCAN message represents a FD frame in terms of CiA Specs
+    /// </summary>
+    PCAN_MESSAGE_FD = $04,
+    /// <summary>
+    /// The PCAN message represents a FD bit rate switch (CAN data at a higher bit rate)
+    /// </summary>
+    PCAN_MESSAGE_BRS = $08,
+    /// <summary>
+    /// The PCAN message represents a FD error state indicator(CAN FD transmitter was error active)
+    /// </summary>
+    PCAN_MESSAGE_ESI = $10,
+    /// <summary>
+    /// The PCAN message represents an echo CAN Frame
+    /// </summary>
+    PCAN_MESSAGE_ECHO = $20,
+    /// <summary>
+    /// The PCAN message represents an error frame
+    /// </summary>
+    PCAN_MESSAGE_ERRFRAME = $40,
+    /// <summary>
+    /// The PCAN message represents a PCAN status message
+    /// </summary>
+    PCAN_MESSAGE_STATUS = $80
+  );
+
+  /// <summary>
+  /// Represents a PCAN filter mode
+  /// </summary>
+  TPCANMode = (
+    /// <summary>
+    /// Mode is Standard (11-bit identifier)
+    /// </summary>
+    PCAN_MODE_STANDARD = Byte(PCAN_MESSAGE_STANDARD),
+    /// <summary>
+    /// Mode is Extended (29-bit identifier)
+    /// </summary>
+    PCAN_MODE_EXTENDED = Byte(PCAN_MESSAGE_EXTENDED)
+  );
+
+{$Z2}
+  /// <summary>
+  /// Represents a PCAN Baud rate register value
+  /// </summary>
+  TPCANBaudrate = (
+    /// <summary>
+    /// 1 MBit/s
+    /// </summary>
+    PCAN_BAUD_1M = $0014,
+    /// <summary>
+    /// 800 kBit/s
+    /// </summary>
+    PCAN_BAUD_800K = $0016,
+    /// <summary>
+    /// 500 kBit/s
+    /// </summary>
+    PCAN_BAUD_500K = $001C,
+    /// <summary>
+    /// 250 kBit/s
+    /// </summary>
+    PCAN_BAUD_250K = $011C,
+    /// <summary>
+    /// 125 kBit/s
+    /// </summary>
+    PCAN_BAUD_125K = $031C,
+    /// <summary>
+    /// 100 kBit/s
+    /// </summary>
+    PCAN_BAUD_100K = $432F,
+    /// <summary>
+    /// 95,238 kBit/s
+    /// </summary>
+    PCAN_BAUD_95K = $C34E,
+    /// <summary>
+    /// 83,333 kBit/s
+    /// </summary>
+    PCAN_BAUD_83K = $852B,
+    /// <summary>
+    /// 50 kBit/s
+    /// </summary>
+    PCAN_BAUD_50K = $472F,
+    /// <summary>
+    /// 47,619 kBit/s
+    /// </summary>
+    PCAN_BAUD_47K = $1414,
+    /// <summary>
+    /// 33,333 kBit/s
+    /// </summary>
+    PCAN_BAUD_33K = $8B2F,
+    /// <summary>
+    /// 20 kBit/s
+    /// </summary>
+    PCAN_BAUD_20K = $532F,
+    /// <summary>
+    /// 10 kBit/s
+    /// </summary>
+    PCAN_BAUD_10K = $672F,
+    /// <summary>
+    /// 5 kBit/s
+    /// </summary>
+    PCAN_BAUD_5K = $7F7F
+  );
+
+{$Z1}
+  /// <summary>
+  /// Represents the type of PCAN (Non-PnP) hardware to be initialized
+  /// </summary>
+  TPCANType = (
+    /// <summary>
+    /// PCAN-ISA 82C200
+    /// </summary>
+    PCAN_TYPE_ISA = $01,
+    /// <summary>
+    /// PCAN-ISA SJA1000
+    /// </summary>
+    PCAN_TYPE_ISA_SJA = $09,
+    /// <summary>
+    /// PHYTEC ISA
+    /// </summary>
+    PCAN_TYPE_ISA_PHYTEC = $04,
+    /// <summary>
+    /// PCAN-Dongle 82C200
+    /// </summary>
+    PCAN_TYPE_DNG = $02,
+    /// <summary>
+    /// PCAN-Dongle EPP 82C200
+    /// </summary>
+    PCAN_TYPE_DNG_EPP = $03,
+    /// <summary>
+    /// PCAN-Dongle SJA1000
+    /// </summary>
+    PCAN_TYPE_DNG_SJA = $05,
+    /// <summary>
+    /// PCAN-Dongle EPP SJA1000
+    /// </summary>
+    PCAN_TYPE_DNG_SJA_EPP = $06
+  );
+
+  /// <summary>
+  /// Represents a PCAN message
+  /// </summary>
+  TPCANMsg = record
+    /// <summary>
+    /// 11/29-bit message identifier
+    /// </summary>
+    ID: Longword;
+    /// <summary>
+    /// Type of the message
+    /// </summary>
+    MSGTYPE: TPCANMessageType;
+    /// <summary>
+    /// Data Length Code of the message (0..8)
+    /// </summary>
+    LEN: Byte;
+    /// <summary>
+    /// Data of the message (DATA[0]..DATA[7])
+    /// </summary>
+    DATA: array[0..7] of Byte;
+  end;
+  PTPCANMsg = ^TPCANMsg;
+
+  /// <summary>
+  /// Represents a timestamp of a received PCAN message.
+  /// Total Microseconds = micros + 1000 * millis + 0x100000000 * 1000 * millis_overflow
+  /// </summary>
+  TPCANTimestamp = record
+    /// <summary>
+    /// Base-value: milliseconds: 0.. 2^32-1
+    /// </summary>
+    millis: Longword;
+    /// <summary>
+    /// Roll-arounds of millis
+    /// </summary>
+    millis_overflow: Word;
+    /// <summary>
+    /// Microseconds: 0..999
+    /// </summary>
+    micros: Word;
+  end;
+  PTPCANTimestamp = ^TPCANTimestamp;
+
+  /// <summary>
+  /// Represents a PCAN message from a FD capable hardware
+  /// </summary>
+  TPCANMsgFD = record
+    /// <summary>
+    /// 11/29-bit message identifier
+    /// </summary>
+    ID: Longword;
+    /// <summary>
+    /// Type of the message
+    /// </summary>
+    MSGTYPE: TPCANMessageType;
+    /// <summary>
+    /// Data Length Code of the message (0..15)
+    /// </summary>
+    DLC: Byte;
+    /// <summary>
+    /// Data of the message (DATA[0]..DATA[63])
+    /// </summary>
+    DATA: array[0..63] of Byte;
+  end;
+  PTPCANMsgFD = ^TPCANMsgFD;
+
+
+  /// <summary>
+  /// Describes an available PCAN channel
+  /// </summary>
+  TPCANChannelInformation = record
+    /// <summary>
+    /// PCAN channel handle
+    /// </summary>
+    channel_handle: TPCANHandle;
+    /// <summary>
+    /// Kind of PCAN device
+    /// </summary>
+    device_type: TPCANDevice;
+    /// <summary>
+    /// CAN-Controller number
+    /// </summary>
+    controller_number: Byte;
+    /// <summary>
+    /// Device capabilities flag (see FEATURE_*)
+    /// </summary>
+    device_features: Longword;
+    /// <summary>
+    /// Device name
+    /// </summary>
+    device_name: array [0..MAX_LENGTH_HARDWARE_NAME-1] of AnsiChar;
+    /// <summary>
+    /// Device number
+    /// </summary>
+    device_id: Longword;
+    /// <summary>
+    /// Availability status of a PCAN-Channel
+    /// </summary>
+    channel_condition: Longword;
+  end;
+  PTPCANChannelInformation = ^TPCANChannelInformation;
+
+  /// <summary>
+  /// PCAN-Basic API class implementation
+  /// </summary>
+  TPCANBasic = class
+  public
+    class var
+      /// <summary>
+      /// Undefined/default value for a PCAN bus
+      /// </summary>
+      const PCAN_NONEBUS: TPCANHandle = $00;
+
+      /// <summary>
+      /// PCAN-ISA interface, channel 1
+      /// </summary>
+      const PCAN_ISABUS1: TPCANHandle = $21;
+      /// <summary>
+      /// PCAN-ISA interface, channel 2
+      /// </summary>
+      const PCAN_ISABUS2: TPCANHandle = $22;
+      /// <summary>
+      /// PCAN-ISA interface, channel 3
+      /// </summary>
+      const PCAN_ISABUS3: TPCANHandle = $23;
+      /// <summary>
+      /// PCAN-ISA interface, channel 4
+      /// </summary>
+      const PCAN_ISABUS4: TPCANHandle = $24;
+      /// <summary>
+      /// PCAN-ISA interface, channel 5
+      /// </summary>
+      const PCAN_ISABUS5: TPCANHandle = $25;
+      /// <summary>
+      /// PCAN-ISA interface, channel 6
+      /// </summary>
+      const PCAN_ISABUS6: TPCANHandle = $26;
+      /// <summary>
+      /// PCAN-ISA interface, channel 7
+      /// </summary>
+      const PCAN_ISABUS7: TPCANHandle = $27;
+      /// <summary>
+      /// PCAN-ISA interface, channel 8
+      /// </summary>
+      const PCAN_ISABUS8: TPCANHandle = $28;
+
+      /// <summary>
+      /// PPCAN-Dongle/LPT interface, channel 1
+      /// </summary>
+      const PCAN_DNGBUS1: TPCANHandle = $31;
+
+      /// <summary>
+      /// PCAN-PCI interface, channel 1
+      /// </summary>
+      const PCAN_PCIBUS1: TPCANHandle = $41;
+      /// <summary>
+      /// PCAN-PCI interface, channel 2
+      /// </summary>
+      const PCAN_PCIBUS2: TPCANHandle = $42;
+      /// <summary>
+      /// PCAN-PCI interface, channel 3
+      /// </summary>
+      const PCAN_PCIBUS3: TPCANHandle = $43;
+      /// <summary>
+      /// PCAN-PCI interface, channel 4
+      /// </summary>
+      const PCAN_PCIBUS4: TPCANHandle = $44;
+      /// <summary>
+      /// PCAN-PCI interface, channel 5
+      /// </summary>
+      const PCAN_PCIBUS5: TPCANHandle = $45;
+      /// <summary>
+      /// PCAN-PCI interface, channel 6
+      /// </summary>
+      const PCAN_PCIBUS6: TPCANHandle = $46;
+      /// <summary>
+      /// PCAN-PCI interface, channel 7
+      /// </summary>
+      const PCAN_PCIBUS7: TPCANHandle = $47;
+      /// <summary>
+      /// PCAN-PCI interface, channel 8
+      /// </summary>
+      const PCAN_PCIBUS8: TPCANHandle = $48;
+      /// <summary>
+      /// PCAN-PCI interface, channel 9
+      /// </summary>
+      const PCAN_PCIBUS9: TPCANHandle = $409;
+      /// <summary>
+      /// PCAN-PCI interface, channel 10
+      /// </summary>
+      const PCAN_PCIBUS10: TPCANHandle = $40A;
+      /// <summary>
+      /// PCAN-PCI interface, channel 11
+      /// </summary>
+      const PCAN_PCIBUS11: TPCANHandle = $40B;
+      /// <summary>
+      /// PCAN-PCI interface, channel 12
+      /// </summary>
+      const PCAN_PCIBUS12: TPCANHandle = $40C;
+      /// <summary>
+      /// PCAN-PCI interface, channel 13
+      /// </summary>
+      const PCAN_PCIBUS13: TPCANHandle = $40D;
+      /// <summary>
+      /// PCAN-PCI interface, channel 14
+      /// </summary>
+      const PCAN_PCIBUS14: TPCANHandle = $40E;
+      /// <summary>
+      /// PCAN-PCI interface, channel 15
+      /// </summary>
+      const PCAN_PCIBUS15: TPCANHandle = $40F;
+      /// <summary>
+      /// PCAN-PCI interface, channel 16
+      /// </summary>
+      const PCAN_PCIBUS16: TPCANHandle = $410;
+
+      /// <summary>
+      /// PCAN-USB interface, channel 1
+      /// </summary>
+      const PCAN_USBBUS1: TPCANHandle = $51;
+      /// <summary>
+      /// PCAN-USB interface, channel 2
+      /// </summary>
+      const PCAN_USBBUS2: TPCANHandle = $52;
+      /// <summary>
+      /// PCAN-USB interface, channel 3
+      /// </summary>
+      const PCAN_USBBUS3: TPCANHandle = $53;
+      /// <summary>
+      /// PCAN-USB interface, channel 4
+      /// </summary>
+      const PCAN_USBBUS4: TPCANHandle = $54;
+      /// <summary>
+      /// PCAN-USB interface, channel 5
+      /// </summary>
+      const PCAN_USBBUS5: TPCANHandle = $55;
+      /// <summary>
+      /// PCAN-USB interface, channel 6
+      /// </summary>
+      const PCAN_USBBUS6: TPCANHandle = $56;
+      /// <summary>
+      /// PCAN-USB interface, channel 7
+      /// </summary>
+      const PCAN_USBBUS7: TPCANHandle = $57;
+      /// <summary>
+      /// PCAN-USB interface, channel 8
+      /// </summary>
+      const PCAN_USBBUS8: TPCANHandle = $58;
+      /// <summary>
+      /// PCAN-USB interface, channel 9
+      /// </summary>
+      const PCAN_USBBUS9: TPCANHandle = $509;
+      /// <summary>
+      /// PCAN-USB interface, channel 10
+      /// </summary>
+      const PCAN_USBBUS10: TPCANHandle = $50A;
+      /// <summary>
+      /// PCAN-USB interface, channel 11
+      /// </summary>
+      const PCAN_USBBUS11: TPCANHandle = $50B;
+      /// <summary>
+      /// PCAN-USB interface, channel 12
+      /// </summary>
+      const PCAN_USBBUS12: TPCANHandle = $50C;
+      /// <summary>
+      /// PCAN-USB interface, channel 13
+      /// </summary>
+      const PCAN_USBBUS13: TPCANHandle = $50D;
+      /// <summary>
+      /// PCAN-USB interface, channel 14
+      /// </summary>
+      const PCAN_USBBUS14: TPCANHandle = $50E;
+      /// <summary>
+      /// PCAN-USB interface, channel 15
+      /// </summary>
+      const PCAN_USBBUS15: TPCANHandle = $50F;
+      /// <summary>
+      /// PCAN-USB interface, channel 16
+      /// </summary>
+      const PCAN_USBBUS16: TPCANHandle = $510;
+
+      /// <summary>
+      /// PCAN-PC Card interface, channel 1
+      /// </summary>
+      const PCAN_PCCBUS1: TPCANHandle = $61;
+      /// <summary>
+      /// PCAN-PC Card interface, channel 2
+      /// </summary>
+      const PCAN_PCCBUS2: TPCANHandle = $62;
+
+      /// <summary>
+      /// PCAN-LAN interface, channel 1
+      /// </summary>
+      const PCAN_LANBUS1: TPCANHandle = $801;
+      /// <summary>
+      /// PCAN-LAN interface, channel 2
+      /// </summary>
+      const PCAN_LANBUS2: TPCANHandle = $802;
+      /// <summary>
+      /// PCAN-LAN interface, channel 3
+      /// </summary>
+      const PCAN_LANBUS3: TPCANHandle = $803;
+      /// <summary>
+      /// PCAN-LAN interface, channel 4
+      /// </summary>
+      const PCAN_LANBUS4: TPCANHandle = $804;
+      /// <summary>
+      /// PCAN-LAN interface, channel 5
+      /// </summary>
+      const PCAN_LANBUS5: TPCANHandle = $805;
+      /// <summary>
+      /// PCAN-LAN interface, channel 6
+      /// </summary>
+      const PCAN_LANBUS6: TPCANHandle = $806;
+      /// <summary>
+      /// PCAN-LAN interface, channel 7
+      /// </summary>
+      const PCAN_LANBUS7: TPCANHandle = $807;
+      /// <summary>
+      /// PCAN-LAN interface, channel 8
+      /// </summary>
+      const PCAN_LANBUS8: TPCANHandle = $808;
+      /// <summary>
+      /// PCAN-LAN interface, channel 9
+      /// </summary>
+      const PCAN_LANBUS9: TPCANHandle = $809;
+      /// <summary>
+      /// PCAN-LAN interface, channel 10
+      /// </summary>
+      const PCAN_LANBUS10: TPCANHandle = $80A;
+      /// <summary>
+      /// PCAN-LAN interface, channel 11
+      /// </summary>
+      const PCAN_LANBUS11: TPCANHandle = $80B;
+      /// <summary>
+      /// PCAN-LAN interface, channel 12
+      /// </summary>
+      const PCAN_LANBUS12: TPCANHandle = $80C;
+      /// <summary>
+      /// PCAN-LAN interface, channel 13
+      /// </summary>
+      const PCAN_LANBUS13: TPCANHandle = $80D;
+      /// <summary>
+      /// PCAN-LAN interface, channel 14
+      /// </summary>
+      const PCAN_LANBUS14: TPCANHandle = $80E;
+      /// <summary>
+      /// PCAN-LAN interface, channel 15
+      /// </summary>
+      const PCAN_LANBUS15: TPCANHandle = $80F;
+      /// <summary>
+      /// PCAN-LAN interface, channel 16
+      /// </summary>
+      const PCAN_LANBUS16: TPCANHandle = $810;
+
+      /// <summary>
+      /// Clock frequency in Herz (80000000, 60000000, 40000000, 30000000, 24000000, 20000000)
+      /// </summary>
+      const PCAN_BR_CLOCK: String = 'f_clock';
+      /// <summary>
+      /// Clock frequency in Megaherz (80, 60, 40, 30, 24, 20)
+      /// </summary>
+      const PCAN_BR_CLOCK_MHZ: String = 'f_clock_mhz';
+      /// <summary>
+      /// Clock prescaler for nominal time quantum
+      /// </summary>
+      const PCAN_BR_NOM_BRP: String = 'nom_brp';
+      /// <summary>
+      /// TSEG1 segment for nominal bit rate in time quanta
+      /// </summary>
+      const PCAN_BR_NOM_TSEG1: String = 'nom_tseg1';
+      /// <summary>
+      /// TSEG2 segment for nominal bit rate in time quanta
+      /// </summary>
+      const PCAN_BR_NOM_TSEG2: String = 'nom_tseg2';
+      /// <summary>
+      /// Synchronization Jump Width for nominal bit rate in time quanta
+      /// </summary>
+      const PCAN_BR_NOM_SJW: String = 'nom_sjw';
+      /// <summary>
+      /// Sample point for nominal bit rate
+      /// </summary>
+      const PCAN_BR_NOM_SAMPLE: String = 'nom_sam';
+      /// <summary>
+      /// Clock prescaler for highspeed data time quantum
+      /// </summary>
+      const PCAN_BR_DATA_BRP: String = 'data_brp';
+      /// <summary>
+      /// TSEG1 segment for fast data bit rate in time quanta
+      /// </summary>
+      const PCAN_BR_DATA_TSEG1: String = 'data_tseg1';
+      /// <summary>
+      /// TSEG2 segment for fast data bit rate in time quanta
+      /// </summary>
+      const PCAN_BR_DATA_TSEG2: String = 'data_tseg2';
+      /// <summary>
+      /// Synchronization Jump Width for highspeed data bit rate in time quanta
+      /// </summary>
+      const PCAN_BR_DATA_SJW: String = 'data_sjw';
+      /// <summary>
+      /// Secondary sample point delay for highspeed data bit rate in cyles
+      /// </summary>
+      const PCAN_BR_DATA_SAMPLE: String = 'data_ssp_offset';
+
+      /// <summary>
+      /// The PCAN parameter is not set (inactive)
+      /// </summary>
+      const PCAN_PARAMETER_OFF: Integer = 0;
+      /// <summary>
+      /// The PCAN parameter is set (active)
+      /// </summary>
+      const PCAN_PARAMETER_ON: Integer = 1;
+      /// <summary>
+      /// The PCAN filter is closed. No messages will be received
+      /// </summary>
+      const PCAN_FILTER_CLOSE: Integer = 0;
+      /// <summary>
+      /// The PCAN filter is fully opened. All messages will be received
+      /// </summary>
+      const PCAN_FILTER_OPEN: Integer = 1;
+      /// <summary>
+      /// The PCAN filter is custom configured. Only registered
+      /// messages will be received
+      /// </summary>
+      const PCAN_FILTER_CUSTOM: Integer = 2;
+      /// <summary>
+      /// The PCAN-Channel handle is illegal, or its associated hardware is not available
+      /// </summary>
+      const PCAN_CHANNEL_UNAVAILABLE: Integer = 0;
+      /// <summary>
+      /// The PCAN-Channel handle is available to be connected (PnP Hardware: it means furthermore that the hardware is plugged-in)
+      /// </summary>
+      const PCAN_CHANNEL_AVAILABLE: Integer = 1;
+      /// <summary>
+      /// The PCAN-Channel handle is valid, and is already being used
+      /// </summary>
+      const PCAN_CHANNEL_OCCUPIED: Integer = 2;
+      /// <summary>
+      /// The PCAN-Channel handle is already being used by a PCAN-View application, but is available to connect
+      /// </summary>
+      const PCAN_CHANNEL_PCANVIEW: Integer = 3;
+
+      /// <summary>
+      /// Logs system exceptions / errors
+      /// </summary>
+      const LOG_FUNCTION_DEFAULT: Integer = $00;
+      /// <summary>
+      /// Logs the entries to the PCAN-Basic API functions
+      /// </summary>
+      const LOG_FUNCTION_ENTRY: Integer = $01;
+      /// <summary>
+      /// Logs the parameters passed to the PCAN-Basic API functions
+      /// </summary>
+      const LOG_FUNCTION_PARAMETERS: Integer = $02;
+      /// <summary>
+      /// Logs the exits from the PCAN-Basic API functions
+      /// </summary>
+      const LOG_FUNCTION_LEAVE: Integer = $04;
+      /// <summary>
+      /// Logs the CAN messages passed to the CAN_Write function
+      /// </summary>
+      const LOG_FUNCTION_WRITE: Integer = $08;
+      /// <summary>
+      /// Logs the CAN messages received within the CAN_Read function
+      /// </summary>
+      const LOG_FUNCTION_READ: Integer = $10;
+      /// <summary>
+      /// Logs all possible information within the PCAN-Basic API functions
+      /// </summary>
+      const LOG_FUNCTION_ALL: Integer = $FFFF;
+
+      /// <summary>
+      /// A single file is written until it size reaches PAN_TRACE_SIZE
+      /// </summary>
+      const TRACE_FILE_SINGLE: Integer = $00;
+      /// <summary>
+      /// Traced data is distributed in several files with size PAN_TRACE_SIZE
+      /// </summary>
+      const TRACE_FILE_SEGMENTED: Integer = $01;
+      /// <summary>
+      /// Includes the date into the name of the trace file
+      /// </summary>
+      const TRACE_FILE_DATE: Integer = $02;
+      /// <summary>
+      /// Includes the start time into the name of the trace file
+      /// </summary>
+      const TRACE_FILE_TIME: Integer = $04;
+      /// <summary>
+      /// Causes the overwriting of available traces (same name)
+      /// </summary>
+      const TRACE_FILE_OVERWRITE: Integer = $80;
+
+      /// <summary>
+      /// Device supports flexible data-rate (CAN-FD)
+      /// </summary>
+      const FEATURE_FD_CAPABLE: Integer = $01;
+      /// <summary>
+      /// Device supports a delay between sending frames (FPGA based USB devices)
+      /// </summary>
+      const FEATURE_DELAY_CAPABLE: Integer = $2;
+      /// <summary>
+      /// Device supports I/O functionality for electronic circuits (USB-Chip devices)
+      /// </summary>
+      const FEATURE_IO_CAPABLE: Integer = $4;
+
+      /// <summary>
+      /// The service is not running
+      /// </summary>
+      const SERVICE_STATUS_STOPPED: Integer = $01;
+      /// <summary>
+      /// The service is running
+      /// </summary>
+      const SERVICE_STATUS_RUNNING: Integer = $04;
+
+      /// <summary>
+      /// Lookup channel by Device type (see PCAN devices e.g. PCAN_USB)
+      /// </summary>
+      const LOOKUP_DEVICE_TYPE: String = 'devicetype';
+      /// <summary>
+      /// Lookup channel by device id
+      /// </summary>
+      const LOOKUP_DEVICE_ID: String = 'deviceid';
+      /// <summary>
+      /// Lookup channel by CAN controller 0-based index
+      /// </summary>
+      const LOOKUP_CONTROLLER_NUMBER: String = 'controllernumber';
+      /// <summary>
+      /// Lookup channel by IP address (LAN channels only)
+      /// </summary>
+      const LOOKUP_IP_ADDRESS: String = 'ipaddress';
+
+      /// <summary>
+      /// Maximum length of the name of a device: 32 characters + terminator
+      /// </summary>
+      const MAX_LENGTH_HARDWARE_NAME: Integer = 33;
+      /// <summary>
+      /// Maximum length of a version string: 255 characters + terminator
+      /// </summary>
+      const MAX_LENGTH_VERSION_STRING: Integer = 256;
+
+    /// <summary>
+    /// Initializes a PCAN Channel
+    /// </summary>
+    /// <param name="Channel">The handle of a PCAN Channel</param>
+    /// <param name="Btr0Btr1">The speed for the communication (BTR0BTR1 code)</param>
+    /// <param name="HwType">Non-PnP: The type of hardware and operation mode</param>
+    /// <param name="IOPort">Non-PnP: The I/O address for the parallel port</param>
+    /// <param name="Interrupt">Non-PnP: Interrupt number of the parallel port</param>
+    /// <returns>A TPCANStatus error code</returns>
+    class function Initialize(
+        Channel: TPCANHandle;
+        Btr0Btr1: TPCANBaudrate;
+        HwType: TPCANType;
+        IOPort: LongWord;
+        Interrupt: Word
+        ): TPCANStatus; overload;
+            
+    /// <summary>
+    /// Initializes a PCAN Channel
+    /// </summary>
+    /// <param name="Channel">The handle of a PCAN Channel</param>
+    /// <param name="Btr0Btr1">The speed for the communication (BTR0BTR1 code)</param>
+    /// <returns>A TPCANStatus error code</returns>
+    class function Initialize(
+        Channel: TPCANHandle;
+        Btr0Btr1: TPCANBaudrate
+        ): TPCANStatus; overload;
+            
+    /// <summary>
+    /// Initializes a FD capable PCAN Channel
+    /// </summary>
+    /// <param name="Channel">The handle of a PCAN Channel</param>
+    /// <param name="BitrateFD">The speed for the communication (FD bit rate string)</param>
+    /// <remarks> See PCAN_BR_* values
+    /// Bit rate string must follow the following construction rules:
+    /// * parameter and values must be separated by '='
+    /// * Couples of Parameter/value must be separated by ','
+    /// * Following Parameter must be filled out: f_clock, data_brp, data_sjw, data_tseg1, data_tseg2,
+    ///   nom_brp, nom_sjw, nom_tseg1, nom_tseg2.
+    /// * Following Parameters are optional (not used yet): data_ssp_offset, nom_sam</remarks>
+    /// <example>f_clock=80000000,nom_brp=10,nom_tseg1=5,nom_tseg2=2,nom_sjw=1,data_brp=4,data_tseg1=7,data_tseg2=2,data_sjw=1</example>
+    /// <returns>A TPCANStatus error code</returns>
+    class function InitializeFD(
+        Channel: TPCANHandle;
+        BitrateFD: TPCANBitrateFD
+        ): TPCANStatus;
+
+    /// <summary>
+    /// Uninitializes one or all PCAN Channels initialized by CAN_Initialize
+    /// </summary>
+    /// <remarks>Giving the TPCANHandle value "PCAN_NONEBUS",
+    /// uninitialize all initialized channels</remarks>
+    /// <param name="Channel">The handle of a PCAN Channel</param>
+    /// <returns>A TPCANStatus error code</returns>
+    class function Uninitialize(
+        Channel: TPCANHandle
+        ): TPCANStatus;
+            
+    /// <summary>
+    /// Resets the receive and transmit queues of the PCAN Channel
+    /// </summary>
+    /// <remarks>A reset of the CAN controller is not performed</remarks>
+    /// <param name="Channel">The handle of a PCAN Channel</param>
+    /// <returns>A TPCANStatus error code</returns>
+    class function Reset(
+        Channel: TPCANHandle
+        ): TPCANStatus;
+            
+    /// <summary>
+    /// Gets the current status of a PCAN Channel
+    /// </summary>
+    /// <param name="Channel">The handle of a PCAN Channel</param>
+    /// <returns>A TPCANStatus error code</returns>
+    class function GetStatus(
+        Channel: TPCANHandle
+        ): TPCANStatus;
+            
+    /// <summary>
+    /// Reads a CAN message from the receive queue of a PCAN Channel
+    /// </summary>
+    /// <param name="Channel">The handle of a PCAN Channel</param>
+    /// <param name="MessageBuffer">A TPCANMsg structure buffer to store the CAN message</param>
+    /// <param name="TimestampBuffer">A TPCANTimestamp structure buffer to get
+    /// the reception time of the message</param>
+    /// <returns>A TPCANStatus error code</returns>
+    class function Read(
+        Channel: TPCANHandle;
+        var MessageBuffer: TPCANMsg;
+        var TimestampBuffer: TPCANTimestamp
+        ):TPCANStatus; overload;
+            
+    /// <summary>
+    /// Reads a CAN message from the receive queue of a PCAN Channel
+    /// </summary>
+    /// <param name="Channel">The handle of a PCAN Channel</param>
+    /// <param name="MessageBuffer">A TPCANMsg structure buffer to store the CAN message</param>
+    /// <returns>A TPCANStatus error code</returns>
+    class function Read(
+        Channel: TPCANHandle;
+        var MessageBuffer: TPCANMsg
+        ): TPCANStatus; overload;
+
+    /// <summary>
+    /// Reads a CAN message from the receive queue of a FD capable PCAN Channel
+    /// </summary>
+    /// <param name="Channel">The handle of a FD capable PCAN Channel</param>
+    /// <param name="MessageBuffer">A TPCANMsgFD structure buffer to store the CAN message</param>
+    /// <param name="TimestampBuffer">A TPCANTimestampFD buffer to get the
+    /// reception time of the message</param>
+    /// <returns>A TPCANStatus error code</returns>
+    class function ReadFD(
+        Channel: TPCANHandle;
+        var MessageBuffer: TPCANMsgFD;
+        var TimestampBuffer: TPCANTimestampFD
+        ):TPCANStatus; overload;
+            
+    /// <summary>
+    /// Reads a CAN message from the receive queue of a FD capable PCAN Channel
+    /// </summary>
+    /// <param name="Channel">The handle of a FD capable PCAN Channel</param>
+    /// <param name="MessageBuffer">A TPCANMsgFD structure buffer to store the CAN message</param>
+    /// <returns>A TPCANStatus error code</returns>
+    class function ReadFD(
+        Channel: TPCANHandle;
+        var MessageBuffer: TPCANMsgFD
+        ):TPCANStatus; overload;
+            
+    /// <summary>
+    ///  Transmits a CAN message
+    /// </summary>
+    /// <param name="Channel">The handle of a PCAN Channel</param>
+    /// <param name="MessageBuffer">A TPCANMsg buffer with the message to be sent</param>
+    /// <returns>A TPCANStatus error code</returns>
+    class function Write(
+        Channel: TPCANHandle;
+        var MessageBuffer: TPCANMsg
+        ): TPCANStatus;
+            
+    /// <summary>
+    /// Transmits a CAN message over a FD capable PCAN Channel
+    /// </summary>
+    /// <param name="Channel">The handle of a FD capable PCAN Channel</param>
+    /// <param name="MessageBuffer">A TPCANMsgFD buffer with the message to be sent</param>
+    /// <returns>A TPCANStatus error code</returns>
+    class function WriteFD(
+        Channel: TPCANHandle;
+        var MessageBuffer: TPCANMsgFD
+        ): TPCANStatus;
+
+    /// <summary>
+    /// Configures the reception filter
+    /// </summary>
+    /// <remarks>The message filter will be expanded with every call to
+    /// this function. If it is desired to reset the filter, please use
+    /// the 'SetValue' function</remarks>
+    /// <param name="Channel">The handle of a PCAN Channel</param>
+    /// <param name="FromID">The lowest CAN ID to be received</param>
+    /// <param name="ToID">The highest CAN ID to be received</param>
+    /// <param name="Mode">Message type, Standard (11-bit identifier) or
+    /// Extended (29-bit identifier)</param>
+    /// <returns>A TPCANStatus error code</returns>
+    class function FilterMessages(
+        Channel: TPCANHandle;
+        FromID: LongWord;
+        ToID: LongWord;
+        Mode: TPCANMode
+        ): TPCANStatus;
+
+    /// <summary>
+    /// Retrieves a PCAN Channel value
+    /// </summary>
+    /// <remarks>Parameters can be present or not according with the kind
+    /// of Hardware (PCAN Channel) being used. If a parameter is not available,
+    /// a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+    /// <param name="Channel">The handle of a PCAN Channel</param>
+    /// <param name="Parameter">The TPCANParameter parameter to get</param>
+    /// <param name="NumericBuffer">Buffer for the parameter value</param>
+    /// <param name="BufferLength">Size in bytes of the buffer</param>
+    /// <returns>A TPCANStatus error code</returns>
+    class function GetValue(
+        Channel: TPCANHandle;
+        Parameter: TPCANParameter;
+        NumericBuffer: PLongWord;
+        BufferLength: LongWord
+        ): TPCANStatus; overload;
+            
+            
+    /// <summary>
+    /// Retrieves a PCAN Channel value
+    /// </summary>
+    /// <remarks>Parameters can be present or not according with the kind
+    /// of Hardware (PCAN Channel) being used. If a parameter is not available,
+    /// a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+    /// <param name="Channel">The handle of a PCAN Channel</param>
+    /// <param name="Parameter">The TPCANParameter parameter to get</param>
+    /// <param name="NumericBuffer">Buffer for the parameter value</param>
+    /// <param name="BufferLength">Size in bytes of the buffer</param>
+    /// <returns>A TPCANStatus error code</returns>
+    class function GetValue(
+        Channel: TPCANHandle;
+        Parameter: TPCANParameter;
+        NumericBuffer: PUInt64;
+        BufferLength: LongWord
+        ): TPCANStatus; overload;
+            
+            
+    /// <summary>
+    /// Retrieves a PCAN Channel value
+    /// </summary>
+    /// <remarks>Parameters can be present or not according with the kind
+    /// of Hardware (PCAN Channel) being used. If a parameter is not available,
+    /// a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+    /// <param name="Channel">The handle of a PCAN Channel</param>
+    /// <param name="Parameter">The TPCANParameter parameter to get</param>
+    /// <param name="StringBuffer">Buffer for the parameter value</param>
+    /// <param name="BufferLength">Size in bytes of the buffer</param>
+    /// <returns>A TPCANStatus error code</returns>
+    class function GetValue(
+        Channel: TPCANHandle;
+        Parameter: TPCANParameter;
+        StringBuffer: PAnsiChar;
+        BufferLength: LongWord
+        ): TPCANStatus; overload;
+
+    class function GetValue(
+        Channel: TPCANHandle;
+        Parameter: TPCANParameter;
+        ChannelsBuffer: PTPCANChannelInformation;
+        BufferLength: LongWord
+        ): TPCANStatus; overload;
+            
+    /// <summary>
+    /// Configures or sets a PCAN Channel value
+    /// </summary>
+    /// <remarks>Parameters can be present or not according with the kind
+    /// of Hardware (PCAN Channel) being used. If a parameter is not available,
+    /// a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+    /// <param name="Channel">The handle of a PCAN Channel</param>
+    /// <param name="Parameter">The TPCANParameter parameter to set</param>
+    /// <param name="NumericBuffer">Buffer with the value to be set</param>
+    /// <param name="BufferLength">Size in bytes of the buffer</param>
+    /// <returns>A TPCANStatus error code</returns>
+    class function SetValue(
+        Channel: TPCANHandle;
+        Parameter: TPCANParameter;
+        NumericBuffer: PLongWord;
+        BufferLength: LongWord
+        ): TPCANStatus; overload;
+
+    /// <summary>
+    /// Configures or sets a PCAN Channel value
+    /// </summary>
+    /// <remarks>Parameters can be present or not according with the kind
+    /// of Hardware (PCAN Channel) being used. If a parameter is not available,
+    /// a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+    /// <param name="Channel">The handle of a PCAN Channel</param>
+    /// <param name="Parameter">The TPCANParameter parameter to set</param>
+    /// <param name="NumericBuffer">Buffer with the value to be set</param>
+    /// <param name="BufferLength">Size in bytes of the buffer</param>
+    /// <returns>A TPCANStatus error code</returns>
+    class function SetValue(
+        Channel: TPCANHandle;
+        Parameter: TPCANParameter;
+        NumericBuffer: PUInt64;
+        BufferLength: LongWord
+        ): TPCANStatus; overload;
+            
+    /// <summary>
+    /// Configures or sets a PCAN Channel value
+    /// </summary>
+    /// <remarks>Parameters can be present or not according with the kind
+    /// of Hardware (PCAN Channel) being used. If a parameter is not available,
+    /// a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+    /// <param name="Channel">The handle of a PCAN Channel</param>
+    /// <param name="Parameter">The TPCANParameter parameter to set</param>
+    /// <param name="StringBuffer">Buffer with the value to be set</param>
+    /// <param name="BufferLength">Size in bytes of the buffer</param>
+    /// <returns>A TPCANStatus error code</returns>
+    class function SetValue(
+        Channel: TPCANHandle;
+        Parameter: TPCANParameter;
+        StringBuffer: PAnsiChar;
+        BufferLength: LongWord
+        ): TPCANStatus; overload;
+
+    /// <summary>
+    /// Returns a descriptive text of a given TPCANStatus error
+    /// code, in any desired language
+    /// </summary>
+    /// <remarks>The current languages available for translation are:
+    /// Neutral (0x00), German (0x07), English (0x09), Spanish (0x0A),
+    /// Italian (0x10) and French (0x0C)</remarks>
+    /// <param name="Error">A TPCANStatus error code</param>
+    /// <param name="Language">Indicates a 'Primary language ID'</param>
+    /// <param name="StringBuffer">Buffer for the text (must be at least 256 in length)</param>
+    /// <returns>A TPCANStatus error code</returns>
+    class function GetErrorText(
+        Error: TPCANStatus;
+        Language: Word;
+        StringBuffer: PAnsiChar
+        ): TPCANStatus;
+
+    /// <summary>
+    /// Finds a PCAN-Basic channel that matches with the given parameters
+    /// </summary>
+    /// <param name="Parameters">A comma separated string contained pairs of
+    /// parameter-name/value to be matched within a PCAN-Basic channel</param>
+    /// <param name="FoundChannel">Buffer for returning the PCAN-basic channel,
+    /// when found</param>
+    /// <returns>A TPCANStatus error code</returns>
+    class function LookUpChannel(
+        Parameters: PAnsiChar;
+        FoundChannel: PTPCANHandle
+        ): TPCANStatus;
+  end;
+
+implementation
+
+uses SysUtils;
+
+const DLL_Name = 'PCANBASIC.DLL';
+
+function CAN_Initialize(Channel: TPCANHandle; Btr0Btr1: TPCANBaudrate; HwType: TPCANType; IOPort: LongWord; Interrupt: Word): TPCANStatus; stdcall;
+external DLL_Name;
+function CAN_InitializeFD(Channel: TPCANHandle; BitrateFD: TPCANBitrateFD): TPCANStatus; stdcall;
+external DLL_Name;
+function CAN_Uninitialize(Channel: TPCANHandle): TPCANStatus; stdcall;
+external DLL_Name;
+function CAN_Reset(Channel: TPCANHandle): TPCANStatus; stdcall;
+external DLL_Name;
+function CAN_GetStatus(Channel: TPCANHandle): TPCANStatus; stdcall;
+external DLL_Name;
+function CAN_Read(Channel: TPCANHandle; var MessageBuffer: TPCANMsg; TimestampBuffer: PTPCANTimestamp):TPCANStatus; overload; stdcall;
+external DLL_Name;
+function CAN_ReadFD(Channel: TPCANHandle; var MessageBuffer: TPCANMsgFD; TimestampBuffer: PUInt64):TPCANStatus; overload; stdcall;
+external DLL_Name;
+function CAN_Write(Channel: TPCANHandle; var MessageBuffer: TPCANMsg): TPCANStatus; stdcall;
+external DLL_Name;
+function CAN_WriteFD(Channel: TPCANHandle; var MessageBuffer: TPCANMsgFD): TPCANStatus; stdcall;
+external DLL_Name;
+function CAN_FilterMessages(Channel: TPCANHandle; FromID: LongWord; ToID: LongWord; Mode: TPCANMode): TPCANStatus; stdcall;
+external DLL_Name;
+function CAN_GetValue(Channel: TPCANHandle; Parameter: TPCANParameter; Buffer: Pointer; BufferLength: LongWord): TPCANStatus; stdcall;
+external DLL_Name;
+function CAN_SetValue(Channel: TPCANHandle; Parameter: TPCANParameter; Buffer: Pointer; BufferLength: LongWord): TPCANStatus; stdcall;
+external DLL_Name;
+function CAN_GetErrorText(Error: TPCANStatus; Language: Word; StringBuffer: PAnsiChar): TPCANStatus; stdcall;
+external DLL_Name;
+function CAN_LookUpChannel(Parameters: PAnsiChar; FoundChannel: PTPCANHandle): TPCANStatus; stdcall;
+external DLL_Name;
+
+class function TPCANBasic.Initialize(Channel: TPCANHandle; Btr0Btr1: TPCANBaudrate; HwType: TPCANType; IOPort: LongWord; Interrupt: Word): TPCANStatus;
+begin
+  Result:= CAN_Initialize(Channel,Btr0Btr1,HwType,IOPort,Interrupt);
+end;
+
+class function TPCANBasic.Initialize(Channel: TPCANHandle; Btr0Btr1: TPCANBaudrate): TPCANStatus;
+begin
+  Result:= CAN_Initialize(Channel,Btr0Btr1,PCAN_TYPE_ISA, 0,0);
+end;
+
+class function TPCANBasic.InitializeFD(Channel: TPCANHandle; BitrateFD: TPCANBitrateFD): TPCANStatus;
+begin
+  Result:= CAN_InitializeFD(Channel,BitrateFD);
+end;
+
+class function TPCANBasic.Uninitialize(Channel: TPCANHandle): TPCANStatus;
+begin
+  Result:= CAN_Uninitialize(Channel);
+end;
+
+class function TPCANBasic.Reset(Channel: TPCANHandle): TPCANStatus;
+begin
+  Result:= CAN_Reset(Channel);
+end;
+
+class function TPCANBasic.GetStatus(Channel: TPCANHandle): TPCANStatus;
+begin
+  Result:= CAN_GetStatus(Channel);
+end;
+
+class function TPCANBasic.Read(Channel: TPCANHandle; var MessageBuffer: TPCANMsg; var TimestampBuffer: TPCANTimestamp):TPCANStatus;
+begin
+  Result:= CAN_Read(Channel, MessageBuffer, @TimestampBuffer);
+end;
+
+class function TPCANBasic.Read(Channel: TPCANHandle; var MessageBuffer: TPCANMsg):TPCANStatus;
+begin
+  Result:= CAN_Read(Channel, MessageBuffer, nil);
+end;
+
+class function TPCANBasic.ReadFD(Channel: TPCANHandle; var MessageBuffer: TPCANMsgFD; var TimestampBuffer: TPCANTimestampFD):TPCANStatus;
+begin
+  Result:= CAN_ReadFD(Channel, MessageBuffer, @TimestampBuffer);
+end;
+
+class function TPCANBasic.ReadFD(Channel: TPCANHandle; var MessageBuffer: TPCANMsgFD):TPCANStatus;
+begin
+  Result:= CAN_ReadFD(Channel, MessageBuffer, nil);
+end;
+
+class function TPCANBasic.Write(Channel: TPCANHandle; var MessageBuffer: TPCANMsg): TPCANStatus;
+begin
+  Result:= CAN_Write(Channel, MessageBuffer);
+end;
+
+class function TPCANBasic.WriteFD(Channel: TPCANHandle; var MessageBuffer: TPCANMsgFD): TPCANStatus;
+begin
+  Result:= CAN_WriteFD(Channel, MessageBuffer);
+end;
+
+class function TPCANBasic.FilterMessages(Channel: TPCANHandle; FromID: LongWord; ToID: LongWord; Mode: TPCANMode): TPCANStatus;
+begin
+  Result:= CAN_FilterMessages(Channel, FromID,ToID,Mode);
+end;
+
+class function TPCANBasic.GetValue(Channel: TPCANHandle; Parameter: TPCANParameter; NumericBuffer: PLongWord; BufferLength: LongWord): TPCANStatus;
+begin
+  Result:= CAN_GetValue(Channel, Parameter, NumericBuffer, BufferLength);
+end;
+
+class function TPCANBasic.GetValue(Channel: TPCANHandle; Parameter: TPCANParameter; NumericBuffer: PUInt64; BufferLength: LongWord): TPCANStatus;
+begin
+  Result:= CAN_GetValue(Channel, Parameter, NumericBuffer, BufferLength);
+end;
+
+class function TPCANBasic.GetValue(Channel: TPCANHandle; Parameter: TPCANParameter; StringBuffer: PAnsiChar; BufferLength: LongWord): TPCANStatus;
+begin
+  Result:= CAN_GetValue(Channel, Parameter, StringBuffer, BufferLength);
+end;
+
+class function TPCANBasic.GetValue(Channel: TPCANHandle; Parameter: TPCANParameter; ChannelsBuffer: PTPCANChannelInformation; BufferLength: LongWord): TPCANStatus;
+begin
+  Result:= CAN_GetValue(Channel, Parameter, ChannelsBuffer, BufferLength);
+end;
+
+class function TPCANBasic.SetValue(Channel: TPCANHandle; Parameter: TPCANParameter; NumericBuffer: PLongWord; BufferLength: LongWord): TPCANStatus;
+begin
+  Result:= CAN_SetValue(Channel, Parameter, NumericBuffer, BufferLength);
+end;
+
+class function TPCANBasic.SetValue(Channel: TPCANHandle; Parameter: TPCANParameter; NumericBuffer: PUInt64; BufferLength: LongWord): TPCANStatus;
+begin
+  Result:= CAN_SetValue(Channel, Parameter, NumericBuffer, BufferLength);
+end;
+
+class function TPCANBasic.SetValue(Channel: TPCANHandle; Parameter: TPCANParameter; StringBuffer: PAnsiChar; BufferLength: LongWord): TPCANStatus;
+begin
+  Result:= CAN_SetValue(Channel, Parameter, StringBuffer, BufferLength);
+end;
+
+class function TPCANBasic.GetErrorText(Error: TPCANStatus; Language: Word; StringBuffer: PAnsiChar): TPCANStatus;
+begin
+  Result:= CAN_GetErrorText(Error, Language, StringBuffer);
+end;
+
+class function TPCANBasic.LookUpChannel(Parameters: PAnsiChar; FoundChannel: PTPCANHandle): TPCANStatus;
+begin
+  Result:= CAN_LookUpChannel(Parameters, FoundChannel);
+end;
+
+end.
\ No newline at end of file

third_party/PCAN_Basic/Include/PCANBasic.py

+#  PCANBasic.py
+#
+#  ~~~~~~~~~~~~
+#
+#  PCAN-Basic API
+#
+#  ~~~~~~~~~~~~
+#
+#  ------------------------------------------------------------------
+#  Author : Keneth Wagner
+#  Last change: 2022-07-06
+#
+#  Language: Python 2.7, 3.8
+#  ------------------------------------------------------------------
+#
+#  Copyright (C) 1999-2022  PEAK-System Technik GmbH, Darmstadt
+#  more Info at http://www.peak-system.com 
+#
+
+# Module Imports
+#
+from ctypes import *
+from string import *
+import platform
+
+#///////////////////////////////////////////////////////////
+# Type definitions
+#///////////////////////////////////////////////////////////
+
+TPCANHandle                   = c_ushort    # Represents a PCAN hardware channel handle
+TPCANStatus                   = int         # Represents a PCAN status/error code
+TPCANParameter                = c_ubyte     # Represents a PCAN parameter to be read or set
+TPCANDevice                   = c_ubyte     # Represents a PCAN device
+TPCANMessageType              = c_ubyte     # Represents the type of a PCAN message
+TPCANType                     = c_ubyte     # Represents the type of PCAN hardware to be initialized
+TPCANMode                     = c_ubyte     # Represents a PCAN filter mode
+TPCANBaudrate                 = c_ushort    # Represents a PCAN Baud rate register value
+TPCANBitrateFD                = c_char_p    # Represents a PCAN-FD bit rate string
+TPCANTimestampFD              = c_ulonglong # Represents a timestamp of a received PCAN FD message
+
+#///////////////////////////////////////////////////////////
+# Value definitions
+#///////////////////////////////////////////////////////////
+
+# Currently defined and supported PCAN channels
+#
+PCAN_NONEBUS                  = TPCANHandle(0x00)  # Undefined/default value for a PCAN bus
+                             
+PCAN_ISABUS1                  = TPCANHandle(0x21)  # PCAN-ISA interface, channel 1
+PCAN_ISABUS2                  = TPCANHandle(0x22)  # PCAN-ISA interface, channel 2
+PCAN_ISABUS3                  = TPCANHandle(0x23)  # PCAN-ISA interface, channel 3
+PCAN_ISABUS4                  = TPCANHandle(0x24)  # PCAN-ISA interface, channel 4
+PCAN_ISABUS5                  = TPCANHandle(0x25)  # PCAN-ISA interface, channel 5
+PCAN_ISABUS6                  = TPCANHandle(0x26)  # PCAN-ISA interface, channel 6
+PCAN_ISABUS7                  = TPCANHandle(0x27)  # PCAN-ISA interface, channel 7
+PCAN_ISABUS8                  = TPCANHandle(0x28)  # PCAN-ISA interface, channel 8
+                             
+PCAN_DNGBUS1                  = TPCANHandle(0x31)  # PCAN-Dongle/LPT interface, channel 1
+                             
+PCAN_PCIBUS1                  = TPCANHandle(0x41)  # PCAN-PCI interface, channel 1
+PCAN_PCIBUS2                  = TPCANHandle(0x42)  # PCAN-PCI interface, channel 2
+PCAN_PCIBUS3                  = TPCANHandle(0x43)  # PCAN-PCI interface, channel 3
+PCAN_PCIBUS4                  = TPCANHandle(0x44)  # PCAN-PCI interface, channel 4
+PCAN_PCIBUS5                  = TPCANHandle(0x45)  # PCAN-PCI interface, channel 5
+PCAN_PCIBUS6                  = TPCANHandle(0x46)  # PCAN-PCI interface, channel 6
+PCAN_PCIBUS7                  = TPCANHandle(0x47)  # PCAN-PCI interface, channel 7
+PCAN_PCIBUS8                  = TPCANHandle(0x48)  # PCAN-PCI interface, channel 8
+PCAN_PCIBUS9                  = TPCANHandle(0x409)  # PCAN-PCI interface, channel 9
+PCAN_PCIBUS10                 = TPCANHandle(0x40A)  # PCAN-PCI interface, channel 10
+PCAN_PCIBUS11                 = TPCANHandle(0x40B)  # PCAN-PCI interface, channel 11
+PCAN_PCIBUS12                 = TPCANHandle(0x40C)  # PCAN-PCI interface, channel 12
+PCAN_PCIBUS13                 = TPCANHandle(0x40D)  # PCAN-PCI interface, channel 13
+PCAN_PCIBUS14                 = TPCANHandle(0x40E)  # PCAN-PCI interface, channel 14
+PCAN_PCIBUS15                 = TPCANHandle(0x40F)  # PCAN-PCI interface, channel 15
+PCAN_PCIBUS16                 = TPCANHandle(0x410)  # PCAN-PCI interface, channel 16
+                             
+PCAN_USBBUS1                  = TPCANHandle(0x51)  # PCAN-USB interface, channel 1
+PCAN_USBBUS2                  = TPCANHandle(0x52)  # PCAN-USB interface, channel 2
+PCAN_USBBUS3                  = TPCANHandle(0x53)  # PCAN-USB interface, channel 3
+PCAN_USBBUS4                  = TPCANHandle(0x54)  # PCAN-USB interface, channel 4
+PCAN_USBBUS5                  = TPCANHandle(0x55)  # PCAN-USB interface, channel 5
+PCAN_USBBUS6                  = TPCANHandle(0x56)  # PCAN-USB interface, channel 6
+PCAN_USBBUS7                  = TPCANHandle(0x57)  # PCAN-USB interface, channel 7
+PCAN_USBBUS8                  = TPCANHandle(0x58)  # PCAN-USB interface, channel 8
+PCAN_USBBUS9                  = TPCANHandle(0x509)  # PCAN-USB interface, channel 9
+PCAN_USBBUS10                 = TPCANHandle(0x50A)  # PCAN-USB interface, channel 10
+PCAN_USBBUS11                 = TPCANHandle(0x50B)  # PCAN-USB interface, channel 11
+PCAN_USBBUS12                 = TPCANHandle(0x50C)  # PCAN-USB interface, channel 12
+PCAN_USBBUS13                 = TPCANHandle(0x50D)  # PCAN-USB interface, channel 13
+PCAN_USBBUS14                 = TPCANHandle(0x50E)  # PCAN-USB interface, channel 14
+PCAN_USBBUS15                 = TPCANHandle(0x50F)  # PCAN-USB interface, channel 15
+PCAN_USBBUS16                 = TPCANHandle(0x510)  # PCAN-USB interface, channel 16
+                             
+PCAN_PCCBUS1                  = TPCANHandle(0x61)  # PCAN-PC Card interface, channel 1
+PCAN_PCCBUS2                  = TPCANHandle(0x62)  # PCAN-PC Card interface, channel 2
+
+PCAN_LANBUS1                  = TPCANHandle(0x801)  # PCAN-LAN interface, channel 1
+PCAN_LANBUS2                  = TPCANHandle(0x802)  # PCAN-LAN interface, channel 2
+PCAN_LANBUS3                  = TPCANHandle(0x803)  # PCAN-LAN interface, channel 3
+PCAN_LANBUS4                  = TPCANHandle(0x804)  # PCAN-LAN interface, channel 4
+PCAN_LANBUS5                  = TPCANHandle(0x805)  # PCAN-LAN interface, channel 5
+PCAN_LANBUS6                  = TPCANHandle(0x806)  # PCAN-LAN interface, channel 6
+PCAN_LANBUS7                  = TPCANHandle(0x807)  # PCAN-LAN interface, channel 7
+PCAN_LANBUS8                  = TPCANHandle(0x808)  # PCAN-LAN interface, channel 8
+PCAN_LANBUS9                  = TPCANHandle(0x809)  # PCAN-LAN interface, channel 9
+PCAN_LANBUS10                 = TPCANHandle(0x80A)  # PCAN-LAN interface, channel 10
+PCAN_LANBUS11                 = TPCANHandle(0x80B)  # PCAN-LAN interface, channel 11
+PCAN_LANBUS12                 = TPCANHandle(0x80C)  # PCAN-LAN interface, channel 12
+PCAN_LANBUS13                 = TPCANHandle(0x80D)  # PCAN-LAN interface, channel 13
+PCAN_LANBUS14                 = TPCANHandle(0x80E)  # PCAN-LAN interface, channel 14
+PCAN_LANBUS15                 = TPCANHandle(0x80F)  # PCAN-LAN interface, channel 15
+PCAN_LANBUS16                 = TPCANHandle(0x810)  # PCAN-LAN interface, channel 16
+
+# Represent the PCAN error and status codes 
+#
+PCAN_ERROR_OK                 = TPCANStatus(0x00000)  # No error 
+PCAN_ERROR_XMTFULL            = TPCANStatus(0x00001)  # Transmit buffer in CAN controller is full
+PCAN_ERROR_OVERRUN            = TPCANStatus(0x00002)  # CAN controller was read too late
+PCAN_ERROR_BUSLIGHT           = TPCANStatus(0x00004)  # Bus error: an error counter reached the 'light' limit
+PCAN_ERROR_BUSHEAVY           = TPCANStatus(0x00008)  # Bus error: an error counter reached the 'heavy' limit
+PCAN_ERROR_BUSWARNING         = TPCANStatus(PCAN_ERROR_BUSHEAVY) # Bus error: an error counter reached the 'warning' limit
+PCAN_ERROR_BUSPASSIVE         = TPCANStatus(0x40000)  # Bus error: the CAN controller is error passive
+PCAN_ERROR_BUSOFF             = TPCANStatus(0x00010)  # Bus error: the CAN controller is in bus-off state
+PCAN_ERROR_ANYBUSERR          = TPCANStatus(PCAN_ERROR_BUSWARNING | PCAN_ERROR_BUSLIGHT | PCAN_ERROR_BUSHEAVY | PCAN_ERROR_BUSOFF | PCAN_ERROR_BUSPASSIVE) # Mask for all bus errors
+PCAN_ERROR_QRCVEMPTY          = TPCANStatus(0x00020)  # Receive queue is empty
+PCAN_ERROR_QOVERRUN           = TPCANStatus(0x00040)  # Receive queue was read too late
+PCAN_ERROR_QXMTFULL           = TPCANStatus(0x00080)  # Transmit queue is full
+PCAN_ERROR_REGTEST            = TPCANStatus(0x00100)  # Test of the CAN controller hardware registers failed (no hardware found)
+PCAN_ERROR_NODRIVER           = TPCANStatus(0x00200)  # Driver not loaded
+PCAN_ERROR_HWINUSE            = TPCANStatus(0x00400)  # Hardware already in use by a Net
+PCAN_ERROR_NETINUSE           = TPCANStatus(0x00800)  # A Client is already connected to the Net
+PCAN_ERROR_ILLHW              = TPCANStatus(0x01400)  # Hardware handle is invalid
+PCAN_ERROR_ILLNET             = TPCANStatus(0x01800)  # Net handle is invalid
+PCAN_ERROR_ILLCLIENT          = TPCANStatus(0x01C00)  # Client handle is invalid
+PCAN_ERROR_ILLHANDLE          = TPCANStatus(PCAN_ERROR_ILLHW | PCAN_ERROR_ILLNET | PCAN_ERROR_ILLCLIENT) # Mask for all handle errors
+PCAN_ERROR_RESOURCE           = TPCANStatus(0x02000)  # Resource (FIFO, Client, timeout) cannot be created
+PCAN_ERROR_ILLPARAMTYPE       = TPCANStatus(0x04000)  # Invalid parameter
+PCAN_ERROR_ILLPARAMVAL        = TPCANStatus(0x08000)  # Invalid parameter value
+PCAN_ERROR_UNKNOWN            = TPCANStatus(0x10000)  # Unknown error
+PCAN_ERROR_ILLDATA            = TPCANStatus(0x20000)  # Invalid data, function, or action
+PCAN_ERROR_ILLMODE            = TPCANStatus(0x80000)  # Driver object state is wrong for the attempted operation
+PCAN_ERROR_CAUTION            = TPCANStatus(0x2000000)# An operation was successfully carried out, however, irregularities were registered
+PCAN_ERROR_INITIALIZE         = TPCANStatus(0x4000000)# Channel is not initialized [Value was changed from 0x40000 to 0x4000000]
+PCAN_ERROR_ILLOPERATION       = TPCANStatus(0x8000000)# Invalid operation [Value was changed from 0x80000 to 0x8000000]
+
+# PCAN devices
+#
+PCAN_NONE                     = TPCANDevice(0x00)  # Undefined, unknown or not selected PCAN device value
+PCAN_PEAKCAN                  = TPCANDevice(0x01)  # PCAN Non-PnP devices. NOT USED WITHIN PCAN-Basic API
+PCAN_ISA                      = TPCANDevice(0x02)  # PCAN-ISA, PCAN-PC/104, and PCAN-PC/104-Plus
+PCAN_DNG                      = TPCANDevice(0x03)  # PCAN-Dongle
+PCAN_PCI                      = TPCANDevice(0x04)  # PCAN-PCI, PCAN-cPCI, PCAN-miniPCI, and PCAN-PCI Express
+PCAN_USB                      = TPCANDevice(0x05)  # PCAN-USB and PCAN-USB Pro
+PCAN_PCC                      = TPCANDevice(0x06)  # PCAN-PC Card
+PCAN_VIRTUAL                  = TPCANDevice(0x07)  # PCAN Virtual hardware. NOT USED WITHIN PCAN-Basic API
+PCAN_LAN                      = TPCANDevice(0x08)  # PCAN Gateway devices
+
+# PCAN parameters
+#
+PCAN_DEVICE_ID                 = TPCANParameter(0x01)  # Device identifier parameter
+PCAN_5VOLTS_POWER              = TPCANParameter(0x02)  # 5-Volt power parameter
+PCAN_RECEIVE_EVENT             = TPCANParameter(0x03)  # PCAN receive event handler parameter
+PCAN_MESSAGE_FILTER            = TPCANParameter(0x04)  # PCAN message filter parameter
+PCAN_API_VERSION               = TPCANParameter(0x05)  # PCAN-Basic API version parameter
+PCAN_CHANNEL_VERSION           = TPCANParameter(0x06)  # PCAN device channel version parameter
+PCAN_BUSOFF_AUTORESET          = TPCANParameter(0x07)  # PCAN Reset-On-Busoff parameter
+PCAN_LISTEN_ONLY               = TPCANParameter(0x08)  # PCAN Listen-Only parameter
+PCAN_LOG_LOCATION              = TPCANParameter(0x09)  # Directory path for log files
+PCAN_LOG_STATUS                = TPCANParameter(0x0A)  # Debug-Log activation status
+PCAN_LOG_CONFIGURE             = TPCANParameter(0x0B)  # Configuration of the debugged information (LOG_FUNCTION_***)
+PCAN_LOG_TEXT                  = TPCANParameter(0x0C)  # Custom insertion of text into the log file
+PCAN_CHANNEL_CONDITION         = TPCANParameter(0x0D)  # Availability status of a PCAN-Channel
+PCAN_HARDWARE_NAME             = TPCANParameter(0x0E)  # PCAN hardware name parameter
+PCAN_RECEIVE_STATUS            = TPCANParameter(0x0F)  # Message reception status of a PCAN-Channel
+PCAN_CONTROLLER_NUMBER         = TPCANParameter(0x10)  # CAN-Controller number of a PCAN-Channel
+PCAN_TRACE_LOCATION            = TPCANParameter(0x11)  # Directory path for PCAN trace files
+PCAN_TRACE_STATUS              = TPCANParameter(0x12)  # CAN tracing activation status
+PCAN_TRACE_SIZE                = TPCANParameter(0x13)  # Configuration of the maximum file size of a CAN trace
+PCAN_TRACE_CONFIGURE           = TPCANParameter(0x14)  # Configuration of the trace file storing mode (TRACE_FILE_***)
+PCAN_CHANNEL_IDENTIFYING       = TPCANParameter(0x15)  # Physical identification of a USB based PCAN-Channel by blinking its associated LED
+PCAN_CHANNEL_FEATURES          = TPCANParameter(0x16)  # Capabilities of a PCAN device (FEATURE_***)
+PCAN_BITRATE_ADAPTING          = TPCANParameter(0x17)  # Using of an existing bit rate (PCAN-View connected to a channel)
+PCAN_BITRATE_INFO              = TPCANParameter(0x18)  # Configured bit rate as Btr0Btr1 value
+PCAN_BITRATE_INFO_FD           = TPCANParameter(0x19)  # Configured bit rate as TPCANBitrateFD string
+PCAN_BUSSPEED_NOMINAL          = TPCANParameter(0x1A)  # Configured nominal CAN Bus speed as Bits per seconds
+PCAN_BUSSPEED_DATA             = TPCANParameter(0x1B)  # Configured CAN data speed as Bits per seconds
+PCAN_IP_ADDRESS                = TPCANParameter(0x1C)  # Remote address of a LAN channel as string in IPv4 format
+PCAN_LAN_SERVICE_STATUS        = TPCANParameter(0x1D)  # Status of the Virtual PCAN-Gateway Service
+PCAN_ALLOW_STATUS_FRAMES       = TPCANParameter(0x1E)  # Status messages reception status within a PCAN-Channel
+PCAN_ALLOW_RTR_FRAMES          = TPCANParameter(0x1F)  # RTR messages reception status within a PCAN-Channel
+PCAN_ALLOW_ERROR_FRAMES        = TPCANParameter(0x20)  # Error messages reception status within a PCAN-Channel
+PCAN_INTERFRAME_DELAY          = TPCANParameter(0x21)  # Delay, in microseconds, between sending frames
+PCAN_ACCEPTANCE_FILTER_11BIT   = TPCANParameter(0x22)  # Filter over code and mask patterns for 11-Bit messages
+PCAN_ACCEPTANCE_FILTER_29BIT   = TPCANParameter(0x23)  # Filter over code and mask patterns for 29-Bit messages
+PCAN_IO_DIGITAL_CONFIGURATION  = TPCANParameter(0x24)  # Output mode of 32 digital I/O pin of a PCAN-USB Chip. 1: Output-Active 0 : Output Inactive
+PCAN_IO_DIGITAL_VALUE          = TPCANParameter(0x25)  # Value assigned to a 32 digital I/O pins of a PCAN-USB Chip
+PCAN_IO_DIGITAL_SET            = TPCANParameter(0x26)  # Value assigned to a 32 digital I/O pins of a PCAN-USB Chip - Multiple digital I/O pins to 1 = High
+PCAN_IO_DIGITAL_CLEAR          = TPCANParameter(0x27)  # Clear multiple digital I/O pins to 0
+PCAN_IO_ANALOG_VALUE           = TPCANParameter(0x28)  # Get value of a single analog input pin
+PCAN_FIRMWARE_VERSION          = TPCANParameter(0x29)  # Get the version of the firmware used by the device associated with a PCAN-Channel
+PCAN_ATTACHED_CHANNELS_COUNT   = TPCANParameter(0x2A)  # Get the amount of PCAN channels attached to a system
+PCAN_ATTACHED_CHANNELS         = TPCANParameter(0x2B)  # Get information about PCAN channels attached to a system
+PCAN_ALLOW_ECHO_FRAMES         = TPCANParameter(0x2C)  # Echo messages reception status within a PCAN-Channel
+PCAN_DEVICE_PART_NUMBER        = TPCANParameter(0x2D)  # Get the part number associated to a device
+
+# DEPRECATED parameters
+#
+PCAN_DEVICE_NUMBER             = PCAN_DEVICE_ID        # DEPRECATED. Use PCAN_DEVICE_ID instead
+
+# PCAN parameter values
+#
+PCAN_PARAMETER_OFF            = int(0x00)  # The PCAN parameter is not set (inactive)
+PCAN_PARAMETER_ON             = int(0x01)  # The PCAN parameter is set (active)
+PCAN_FILTER_CLOSE             = int(0x00)  # The PCAN filter is closed. No messages will be received
+PCAN_FILTER_OPEN              = int(0x01)  # The PCAN filter is fully opened. All messages will be received
+PCAN_FILTER_CUSTOM            = int(0x02)  # The PCAN filter is custom configured. Only registered messages will be received
+PCAN_CHANNEL_UNAVAILABLE      = int(0x00)  # The PCAN-Channel handle is illegal, or its associated hardware is not available
+PCAN_CHANNEL_AVAILABLE        = int(0x01)  # The PCAN-Channel handle is available to be connected (PnP Hardware: it means furthermore that the hardware is plugged-in)
+PCAN_CHANNEL_OCCUPIED         = int(0x02)  # The PCAN-Channel handle is valid, and is already being used
+PCAN_CHANNEL_PCANVIEW         = PCAN_CHANNEL_AVAILABLE | PCAN_CHANNEL_OCCUPIED  # The PCAN-Channel handle is already being used by a PCAN-View application, but is available to connect
+                              
+LOG_FUNCTION_DEFAULT          = int(0x00)   # Logs system exceptions / errors
+LOG_FUNCTION_ENTRY            = int(0x01)   # Logs the entries to the PCAN-Basic API functions 
+LOG_FUNCTION_PARAMETERS       = int(0x02)   # Logs the parameters passed to the PCAN-Basic API functions 
+LOG_FUNCTION_LEAVE            = int(0x04)   # Logs the exits from the PCAN-Basic API functions 
+LOG_FUNCTION_WRITE            = int(0x08)   # Logs the CAN messages passed to the CAN_Write function
+LOG_FUNCTION_READ             = int(0x10)   # Logs the CAN messages received within the CAN_Read function
+LOG_FUNCTION_ALL              = int(0xFFFF) # Logs all possible information within the PCAN-Basic API functions
+                              
+TRACE_FILE_SINGLE             = int(0x00)  # A single file is written until it size reaches PAN_TRACE_SIZE
+TRACE_FILE_SEGMENTED          = int(0x01)  # Traced data is distributed in several files with size PAN_TRACE_SIZE
+TRACE_FILE_DATE               = int(0x02)  # Includes the date into the name of the trace file
+TRACE_FILE_TIME               = int(0x04)  # Includes the start time into the name of the trace file
+TRACE_FILE_OVERWRITE          = int(0x80)  # Causes the overwriting of available traces (same name)
+                              
+FEATURE_FD_CAPABLE            = int(0x01)  # Device supports flexible data-rate (CAN-FD)
+FEATURE_DELAY_CAPABLE         = int(0x02)  # Device supports a delay between sending frames (FPGA based USB devices)
+FEATURE_IO_CAPABLE            = int(0x04)  # Device supports I/O functionality for electronic circuits (USB-Chip devices)
+                              
+SERVICE_STATUS_STOPPED        = int(0x01)  # The service is not running
+SERVICE_STATUS_RUNNING        = int(0x04)  # The service is running
+
+# Other constants
+#
+MAX_LENGTH_HARDWARE_NAME      = int(33)    # Maximum length of the name of a device: 32 characters + terminator
+MAX_LENGTH_VERSION_STRING     = int(256)   # Maximum length of a version string: 255 characters + terminator
+                              
+# PCAN message types          
+#                             
+PCAN_MESSAGE_STANDARD         = TPCANMessageType(0x00)  # The PCAN message is a CAN Standard Frame (11-bit identifier)
+PCAN_MESSAGE_RTR              = TPCANMessageType(0x01)  # The PCAN message is a CAN Remote-Transfer-Request Frame
+PCAN_MESSAGE_EXTENDED         = TPCANMessageType(0x02)  # The PCAN message is a CAN Extended Frame (29-bit identifier)
+PCAN_MESSAGE_FD               = TPCANMessageType(0x04)  # The PCAN message represents a FD frame in terms of CiA Specs
+PCAN_MESSAGE_BRS              = TPCANMessageType(0x08)  # The PCAN message represents a FD bit rate switch (CAN data at a higher bit rate)
+PCAN_MESSAGE_ESI              = TPCANMessageType(0x10)  # The PCAN message represents a FD error state indicator(CAN FD transmitter was error active)
+PCAN_MESSAGE_ECHO             = TPCANMessageType(0x20)  # The PCAN message represents an echo CAN Frame
+PCAN_MESSAGE_ERRFRAME         = TPCANMessageType(0x40)  # The PCAN message represents an error frame
+PCAN_MESSAGE_STATUS           = TPCANMessageType(0x80)  # The PCAN message represents a PCAN status message
+
+# LookUp Parameters
+#
+LOOKUP_DEVICE_TYPE            = b"devicetype"           # Lookup channel by Device type (see PCAN devices e.g. PCAN_USB)
+LOOKUP_DEVICE_ID              = b"deviceid"             # Lookup channel by device id
+LOOKUP_CONTROLLER_NUMBER      = b"controllernumber"     # Lookup channel by CAN controller 0-based index
+LOOKUP_IP_ADDRESS             = b"ipaddress"            # Lookup channel by IP address (LAN channels only)
+
+# Frame Type / Initialization Mode
+#
+PCAN_MODE_STANDARD            = PCAN_MESSAGE_STANDARD  
+PCAN_MODE_EXTENDED            = PCAN_MESSAGE_EXTENDED  
+
+# Baud rate codes = BTR0/BTR1 register values for the CAN controller.
+# You can define your own Baud rate with the BTROBTR1 register.
+# Take a look at www.peak-system.com for our free software "BAUDTOOL" 
+# to calculate the BTROBTR1 register for every bit rate and sample point.
+#
+PCAN_BAUD_1M                  = TPCANBaudrate(0x0014) #   1 MBit/s
+PCAN_BAUD_800K                = TPCANBaudrate(0x0016) # 800 kBit/s
+PCAN_BAUD_500K                = TPCANBaudrate(0x001C) # 500 kBit/s
+PCAN_BAUD_250K                = TPCANBaudrate(0x011C) # 250 kBit/s
+PCAN_BAUD_125K                = TPCANBaudrate(0x031C) # 125 kBit/s
+PCAN_BAUD_100K                = TPCANBaudrate(0x432F) # 100 kBit/s
+PCAN_BAUD_95K                 = TPCANBaudrate(0xC34E) #  95,238 kBit/s
+PCAN_BAUD_83K                 = TPCANBaudrate(0x852B) #  83,333 kBit/s
+PCAN_BAUD_50K                 = TPCANBaudrate(0x472F) #  50 kBit/s
+PCAN_BAUD_47K                 = TPCANBaudrate(0x1414) #  47,619 kBit/s
+PCAN_BAUD_33K                 = TPCANBaudrate(0x8B2F) #  33,333 kBit/s
+PCAN_BAUD_20K                 = TPCANBaudrate(0x532F) #  20 kBit/s
+PCAN_BAUD_10K                 = TPCANBaudrate(0x672F) #  10 kBit/s
+PCAN_BAUD_5K                  = TPCANBaudrate(0x7F7F) #   5 kBit/s
+
+# Represents the configuration for a CAN bit rate
+# Note: 
+#    * Each parameter and its value must be separated with a '='.
+#    * Each pair of parameter/value must be separated using ','. 
+#
+# Example:
+#    f_clock=80000000,nom_brp=10,nom_tseg1=5,nom_tseg2=2,nom_sjw=1,data_brp=4,data_tseg1=7,data_tseg2=2,data_sjw=1
+#
+PCAN_BR_CLOCK                 = TPCANBitrateFD(b"f_clock")
+PCAN_BR_CLOCK_MHZ             = TPCANBitrateFD(b"f_clock_mhz")
+PCAN_BR_NOM_BRP               = TPCANBitrateFD(b"nom_brp")
+PCAN_BR_NOM_TSEG1             = TPCANBitrateFD(b"nom_tseg1")
+PCAN_BR_NOM_TSEG2             = TPCANBitrateFD(b"nom_tseg2")
+PCAN_BR_NOM_SJW               = TPCANBitrateFD(b"nom_sjw")
+PCAN_BR_NOM_SAMPLE            = TPCANBitrateFD(b"nom_sam")
+PCAN_BR_DATA_BRP              = TPCANBitrateFD(b"data_brp")
+PCAN_BR_DATA_TSEG1            = TPCANBitrateFD(b"data_tseg1")
+PCAN_BR_DATA_TSEG2            = TPCANBitrateFD(b"data_tseg2")
+PCAN_BR_DATA_SJW              = TPCANBitrateFD(b"data_sjw")
+PCAN_BR_DATA_SAMPLE           = TPCANBitrateFD(b"data_ssp_offset")
+
+# Supported Non-PnP Hardware types
+#
+PCAN_TYPE_ISA                 = TPCANType(0x01)  # PCAN-ISA 82C200
+PCAN_TYPE_ISA_SJA             = TPCANType(0x09)  # PCAN-ISA SJA1000
+PCAN_TYPE_ISA_PHYTEC          = TPCANType(0x04)  # PHYTEC ISA 
+PCAN_TYPE_DNG                 = TPCANType(0x02)  # PCAN-Dongle 82C200
+PCAN_TYPE_DNG_EPP             = TPCANType(0x03)  # PCAN-Dongle EPP 82C200
+PCAN_TYPE_DNG_SJA             = TPCANType(0x05)  # PCAN-Dongle SJA1000
+PCAN_TYPE_DNG_SJA_EPP         = TPCANType(0x06)  # PCAN-Dongle EPP SJA1000
+
+# Represents a PCAN message
+#
+class TPCANMsg (Structure):
+    """
+    Represents a PCAN message
+    """
+    _fields_ = [ ("ID",      c_uint),           # 11/29-bit message identifier
+                 ("MSGTYPE", TPCANMessageType), # Type of the message
+                 ("LEN",     c_ubyte),          # Data Length Code of the message (0..8)
+                 ("DATA",    c_ubyte * 8) ]     # Data of the message (DATA[0]..DATA[7])
+
+# Represents a timestamp of a received PCAN message
+# Total Microseconds = micros + 1000 * millis + 0x100000000 * 1000 * millis_overflow
+#
+class TPCANTimestamp (Structure):
+    """
+    Represents a timestamp of a received PCAN message
+    Total Microseconds = micros + 1000 * millis + 0x100000000 * 1000 * millis_overflow
+    """
+    _fields_ = [ ("millis",          c_uint),    # Base-value: milliseconds: 0.. 2^32-1
+                 ("millis_overflow", c_ushort),  # Roll-arounds of millis
+                 ("micros",          c_ushort) ] # Microseconds: 0..999
+
+# Represents a PCAN message from a FD capable hardware
+#
+class TPCANMsgFD (Structure):
+    """
+    Represents a PCAN message
+    """
+    _fields_ = [ ("ID",      c_uint),           # 11/29-bit message identifier
+                 ("MSGTYPE", TPCANMessageType), # Type of the message
+                 ("DLC",     c_ubyte),          # Data Length Code of the message (0..15)
+                 ("DATA",    c_ubyte * 64) ]    # Data of the message (DATA[0]..DATA[63])
+
+# Describes an available PCAN channel
+#
+class TPCANChannelInformation (Structure):
+    """
+    Describes an available PCAN channel
+    """
+    _fields_ = [ ("channel_handle",    TPCANHandle),                       # PCAN channel handle
+                 ("device_type",       TPCANDevice),                       # Kind of PCAN device
+                 ("controller_number", c_ubyte),                           # CAN-Controller number
+                 ("device_features",   c_uint),                            # Device capabilities flag (see FEATURE_*)
+                 ("device_name",       c_char * MAX_LENGTH_HARDWARE_NAME), # Device name
+                 ("device_id",         c_uint),                            # Device number
+                 ("channel_condition", c_uint) ]                           # Availability status of a PCAN-Channel
+
+#///////////////////////////////////////////////////////////
+# PCAN-Basic API function declarations
+#///////////////////////////////////////////////////////////
+
+# PCAN-Basic API class implementation
+#
+class PCANBasic:
+    """
+      PCAN-Basic API class implementation
+    """      
+    def __init__(self):
+        # Loads the PCANBasic API
+        #     
+        if platform.system() == 'Windows':
+            # Loads the API on Windows
+            self.__m_dllBasic = windll.LoadLibrary("PCANBasic")
+        elif platform.system() == 'Linux':
+            # Loads the API on Linux
+            self.__m_dllBasic = cdll.LoadLibrary("libpcanbasic.so")            
+        elif platform.system() == 'Darwin':
+            # Loads the API on Mac
+            #
+            # NOTE: 
+            # ~~~~~
+            # The macOS library for PCAN-USB interfaces from PEAK-System, PCBUSB library,
+            # is a third-party software creaded and mantained by the MacCAN project. For
+            # information and support, please contact MacCAN (info@mac-can).
+            #
+           self.__m_dllBasic = cdll.LoadLibrary("libPCBUSB.dylib")            
+
+        if self.__m_dllBasic == None:
+            print ("Exception: The PCAN-Basic DLL couldn't be loaded!")
+
+    # Initializes a PCAN Channel
+    #
+    def Initialize(
+        self,
+        Channel,   
+        Btr0Btr1,  
+        HwType = TPCANType(0),  
+        IOPort = c_uint(0),
+        Interrupt = c_ushort(0)):
+        
+        """
+          Initializes a PCAN Channel
+
+        Parameters:
+          Channel  : A TPCANHandle representing a PCAN Channel
+          Btr0Btr1 : The speed for the communication (BTR0BTR1 code)
+          HwType   : Non-PnP: The type of hardware and operation mode
+          IOPort   : Non-PnP: The I/O address for the parallel port
+          Interrupt: Non-PnP: Interrupt number of the parallel port
+        
+        Returns:
+          A TPCANStatus error code
+        """
+        try:
+            res = self.__m_dllBasic.CAN_Initialize(Channel,Btr0Btr1,HwType,IOPort,Interrupt)
+            return TPCANStatus(res)
+        except:
+            print ("Exception on PCANBasic.Initialize")
+            raise
+        
+    # Initializes a FD capable PCAN Channel  
+    #
+    def InitializeFD(
+        self,
+        Channel,   
+        BitrateFD):
+        
+        """
+          Initializes a FD capable PCAN Channel  
+
+        Parameters:
+          Channel  : The handle of a FD capable PCAN Channel
+          BitrateFD : The speed for the communication (FD bit rate string)
+
+        Remarks:
+          See PCAN_BR_* values.
+          * parameter and values must be separated by '='
+          * Couples of Parameter/value must be separated by ','
+          * Following Parameter must be filled out: f_clock, data_brp, data_sjw, data_tseg1, data_tseg2,
+            nom_brp, nom_sjw, nom_tseg1, nom_tseg2.
+          * Following Parameters are optional (not used yet): data_ssp_offset, nom_sam
+
+        Example:
+          f_clock=80000000,nom_brp=10,nom_tseg1=5,nom_tseg2=2,nom_sjw=1,data_brp=4,data_tseg1=7,data_tseg2=2,data_sjw=1
+
+        Returns:
+          A TPCANStatus error code
+        """
+        try:
+            res = self.__m_dllBasic.CAN_InitializeFD(Channel,BitrateFD)
+            return TPCANStatus(res)
+        except:
+            print ("Exception on PCANBasic.InitializeFD")
+            raise
+
+    #  Uninitializes one or all PCAN Channels initialized by CAN_Initialize
+    #
+    def Uninitialize(
+        self,
+        Channel):
+
+        """
+          Uninitializes one or all PCAN Channels initialized by CAN_Initialize
+          
+        Remarks:
+          Giving the TPCANHandle value "PCAN_NONEBUS", uninitialize all initialized channels
+          
+        Parameters:
+          Channel  : A TPCANHandle representing a PCAN Channel
+        
+        Returns:
+          A TPCANStatus error code
+        """
+        try:
+            res = self.__m_dllBasic.CAN_Uninitialize(Channel)
+            return TPCANStatus(res)
+        except:
+            print ("Exception on PCANBasic.Uninitialize")
+            raise
+
+    #  Resets the receive and transmit queues of the PCAN Channel
+    #
+    def Reset(
+        self,
+        Channel):
+
+        """
+          Resets the receive and transmit queues of the PCAN Channel
+          
+        Remarks:
+          A reset of the CAN controller is not performed
+          
+        Parameters:
+          Channel  : A TPCANHandle representing a PCAN Channel
+        
+        Returns:
+          A TPCANStatus error code
+        """
+        try:
+            res = self.__m_dllBasic.CAN_Reset(Channel)
+            return TPCANStatus(res)
+        except:
+            print ("Exception on PCANBasic.Reset")
+            raise
+            
+    #  Gets the current status of a PCAN Channel
+    #
+    def GetStatus(
+        self,
+        Channel):
+
+        """
+          Gets the current status of a PCAN Channel
+          
+        Parameters:
+          Channel  : A TPCANHandle representing a PCAN Channel
+        
+        Returns:
+          A TPCANStatus error code
+        """
+        try:
+            res = self.__m_dllBasic.CAN_GetStatus(Channel)
+            return TPCANStatus(res)
+        except:
+            print ("Exception on PCANBasic.GetStatus")
+            raise
+
+    # Reads a CAN message from the receive queue of a PCAN Channel
+    #
+    def Read(
+        self,
+        Channel):
+
+        """
+          Reads a CAN message from the receive queue of a PCAN Channel
+
+        Remarks:
+          The return value of this method is a 3-touple, where 
+          the first value is the result (TPCANStatus) of the method.
+          The order of the values are:
+          [0]: A TPCANStatus error code
+          [1]: A TPCANMsg structure with the CAN message read
+          [2]: A TPCANTimestamp structure with the time when a message was read
+          
+        Parameters:
+          Channel  : A TPCANHandle representing a PCAN Channel
+        
+        Returns:
+          A touple with three values
+        """
+        try:
+            msg = TPCANMsg()
+            timestamp = TPCANTimestamp()
+            res = self.__m_dllBasic.CAN_Read(Channel,byref(msg),byref(timestamp))
+            return TPCANStatus(res),msg,timestamp
+        except:
+            print ("Exception on PCANBasic.Read")
+            raise           
+
+    # Reads a CAN message from the receive queue of a FD capable PCAN Channel
+    #
+    def ReadFD(
+        self,
+        Channel):
+
+        """
+          Reads a CAN message from the receive queue of a FD capable PCAN Channel
+
+        Remarks:
+          The return value of this method is a 3-touple, where 
+          the first value is the result (TPCANStatus) of the method.
+          The order of the values are:
+          [0]: A TPCANStatus error code
+          [1]: A TPCANMsgFD structure with the CAN message read
+          [2]: A TPCANTimestampFD that is the time when a message was read
+          
+        Parameters:
+          Channel  : The handle of a FD capable PCAN Channel
+        
+        Returns:
+          A touple with three values
+        """
+        try:
+            msg = TPCANMsgFD()
+            timestamp = TPCANTimestampFD()
+            res = self.__m_dllBasic.CAN_ReadFD(Channel,byref(msg),byref(timestamp))
+            return TPCANStatus(res),msg,timestamp
+        except:
+            print ("Exception on PCANBasic.ReadFD")
+            raise  
+
+    # Transmits a CAN message 
+    #
+    def Write(
+        self,
+        Channel,
+        MessageBuffer):
+
+        """
+          Transmits a CAN message 
+          
+        Parameters:
+          Channel      : A TPCANHandle representing a PCAN Channel
+          MessageBuffer: A TPCANMsg representing the CAN message to be sent
+        
+        Returns:
+          A TPCANStatus error code
+        """
+        try:
+            res = self.__m_dllBasic.CAN_Write(Channel,byref(MessageBuffer))
+            return TPCANStatus(res)
+        except:
+            print ("Exception on PCANBasic.Write")
+            raise
+
+    # Transmits a CAN message over a FD capable PCAN Channel
+    #
+    def WriteFD(
+        self,
+        Channel,
+        MessageBuffer):
+
+        """
+          Transmits a CAN message over a FD capable PCAN Channel 
+          
+        Parameters:
+          Channel      : The handle of a FD capable PCAN Channel
+          MessageBuffer: A TPCANMsgFD buffer with the message to be sent
+        
+        Returns:
+          A TPCANStatus error code
+        """
+        try:
+            res = self.__m_dllBasic.CAN_WriteFD(Channel,byref(MessageBuffer))
+            return TPCANStatus(res)
+        except:
+            print ("Exception on PCANBasic.WriteFD")
+            raise
+
+    # Configures the reception filter 
+    #
+    def FilterMessages(
+        self,
+        Channel,
+        FromID,
+        ToID,
+        Mode):
+
+        """
+          Configures the reception filter
+
+        Remarks:
+          The message filter will be expanded with every call to this function.
+          If it is desired to reset the filter, please use the 'SetValue' function.
+        
+        Parameters:
+          Channel : A TPCANHandle representing a PCAN Channel
+          FromID  : A c_uint value with the lowest CAN ID to be received
+          ToID    : A c_uint value with the highest CAN ID to be received
+          Mode    : A TPCANMode representing the message type (Standard, 11-bit 
+                    identifier, or Extended, 29-bit identifier)
+        
+        Returns:
+          A TPCANStatus error code
+        """
+        try:
+            res = self.__m_dllBasic.CAN_FilterMessages(Channel,FromID,ToID,Mode)
+            return TPCANStatus(res)
+        except:
+            print ("Exception on PCANBasic.FilterMessages")
+            raise
+
+    # Retrieves a PCAN Channel value 
+    #
+    def GetValue(
+        self,
+        Channel,
+        Parameter):
+
+        """
+          Retrieves a PCAN Channel value
+
+        Remarks:
+          Parameters can be present or not according with the kind
+          of Hardware (PCAN Channel) being used. If a parameter is not available,
+          a PCAN_ERROR_ILLPARAMTYPE error will be returned.
+          
+          The return value of this method is a 2-touple, where 
+          the first value is the result (TPCANStatus) of the method and
+          the second one, the asked value 
+          
+        Parameters:
+          Channel   : A TPCANHandle representing a PCAN Channel
+          Parameter : The TPCANParameter parameter to get
+        
+        Returns:
+          A touple with 2 values
+        """        
+        try:
+            if Parameter == PCAN_API_VERSION or Parameter == PCAN_HARDWARE_NAME or Parameter == PCAN_CHANNEL_VERSION or Parameter == PCAN_LOG_LOCATION or Parameter == PCAN_TRACE_LOCATION or Parameter == PCAN_BITRATE_INFO_FD or Parameter == PCAN_IP_ADDRESS or Parameter == PCAN_FIRMWARE_VERSION or Parameter == PCAN_DEVICE_PART_NUMBER:
+                mybuffer = create_string_buffer(256)
+                
+            elif Parameter == PCAN_ATTACHED_CHANNELS:
+                res = self.GetValue(Channel, PCAN_ATTACHED_CHANNELS_COUNT)
+                if TPCANStatus(res[0]) != PCAN_ERROR_OK:
+                    return TPCANStatus(res[0]),
+                mybuffer = (TPCANChannelInformation * res[1])()
+
+            elif Parameter == PCAN_ACCEPTANCE_FILTER_11BIT or PCAN_ACCEPTANCE_FILTER_29BIT:
+                mybuffer = c_int64(0)
+            
+            else:
+                mybuffer = c_int(0)
+
+            res = self.__m_dllBasic.CAN_GetValue(Channel,Parameter,byref(mybuffer),sizeof(mybuffer))
+            if Parameter == PCAN_ATTACHED_CHANNELS:
+                return TPCANStatus(res),mybuffer
+            else:
+                return TPCANStatus(res),mybuffer.value
+        except:
+            print ("Exception on PCANBasic.GetValue")
+            raise            
+
+    # Returns a descriptive text of a given TPCANStatus
+    # error code, in any desired language
+    #
+    def SetValue(
+        self,
+        Channel,
+        Parameter,
+        Buffer):
+
+        """
+          Configures or sets a PCAN Channel value
+
+        Remarks:
+          Parameters can be present or not according with the kind
+          of Hardware (PCAN Channel) being used. If a parameter is not available,
+          a PCAN_ERROR_ILLPARAMTYPE error will be returned.
+          
+        Parameters:
+          Channel      : A TPCANHandle representing a PCAN Channel
+          Parameter    : The TPCANParameter parameter to set
+          Buffer       : Buffer with the value to be set
+          BufferLength : Size in bytes of the buffer
+        
+        Returns:
+          A TPCANStatus error code
+        """        
+        try:
+            if Parameter == PCAN_LOG_LOCATION or Parameter == PCAN_LOG_TEXT or Parameter == PCAN_TRACE_LOCATION:
+                mybuffer = create_string_buffer(256)
+            elif Parameter == PCAN_ACCEPTANCE_FILTER_11BIT or PCAN_ACCEPTANCE_FILTER_29BIT:
+                mybuffer = c_int64(0)
+            else:
+                mybuffer = c_int(0)
+
+            mybuffer.value = Buffer
+            res = self.__m_dllBasic.CAN_SetValue(Channel,Parameter,byref(mybuffer),sizeof(mybuffer))
+            return TPCANStatus(res)
+        except:
+            print ("Exception on PCANBasic.SetValue")
+            raise
+
+    def GetErrorText(
+        self,
+        Error,
+        Language = 0):
+
+        """
+          Returns a descriptive text of a given TPCANStatus error
+          code, in any desired language
+
+        Remarks:
+
+          The current languages available for translation are:
+          Neutral (0x00), German (0x07), English (0x09), Spanish (0x0A),
+          Italian (0x10) and French (0x0C)          
+
+          The return value of this method is a 2-touple, where 
+          the first value is the result (TPCANStatus) of the method and
+          the second one, the error text
+          
+        Parameters:
+          Error    : A TPCANStatus error code
+          Language : Indicates a 'Primary language ID' (Default is Neutral(0))
+        
+        Returns:
+          A touple with 2 values
+        """  
+        try:
+            mybuffer = create_string_buffer(256)
+            res = self.__m_dllBasic.CAN_GetErrorText(Error,Language,byref(mybuffer))
+            return TPCANStatus(res),mybuffer.value
+        except:
+            print ("Exception on PCANBasic.GetErrorText")
+            raise  
+        
+    def LookUpChannel(
+        self,
+        Parameters):
+
+        """
+            Finds a PCAN-Basic channel that matches with the given parameters
+
+        Remarks:
+
+          The return value of this method is a 2-touple, where 
+          the first value is the result (TPCANStatus) of the method and
+          the second one a TPCANHandle value
+        
+        Parameters:
+            Parameters   : A comma separated string contained pairs of parameter-name/value 
+                           to be matched within a PCAN-Basic channel
+
+        Returns:
+          A touple with 2 values
+        """
+        try:
+            mybuffer = TPCANHandle(0)
+            res = self.__m_dllBasic.CAN_LookUpChannel(Parameters,byref(mybuffer))
+            return TPCANStatus(res),mybuffer
+        except:
+            print ("Exception on PCANBasic.LookUpChannel")
+            raise  

third_party/PCAN_Basic/Include/PCANBasic.vb

+'  PCANBasic.cs
+'
+'  ~~~~~~~~~~~~
+'
+'  PCAN-Basic API
+'
+'  ~~~~~~~~~~~~
+'
+'  ------------------------------------------------------------------
+'  Author : Keneth Wagner
+'  Last change: 2022-07-06
+'
+'  Language: VB .NET
+'  ------------------------------------------------------------------
+'
+'  Copyright (C) 1999-2022  PEAK-System Technik GmbH, Darmstadt
+'  more Info at http://www.peak-system.com 
+'
+Imports System
+Imports System.Text
+Imports System.Runtime.InteropServices
+
+Imports TPCANHandle = System.UInt16
+Imports TPCANBitrateFD = System.String
+Imports TPCANTimestampFD = System.UInt64
+
+Namespace Peak.Can.Basic
+#Region "Enumerations"
+    ''' <summary>
+    ''' Represents a PCAN status/error code
+    ''' </summary>
+    <Flags()> _
+    Public Enum TPCANStatus As UInt32
+        ''' <summary>
+        ''' No error
+        ''' </summary>
+        PCAN_ERROR_OK = &H0
+        ''' <summary>
+        ''' Transmit buffer in CAN controller is full
+        ''' </summary>
+        PCAN_ERROR_XMTFULL = &H1
+        ''' <summary>
+        ''' CAN controller was read too late
+        ''' </summary>
+        PCAN_ERROR_OVERRUN = &H2
+        ''' <summary>
+        ''' Bus error: an error counter reached the 'light' limit
+        ''' </summary>
+        PCAN_ERROR_BUSLIGHT = &H4
+        ''' <summary>
+        ''' Bus error: an error counter reached the 'heavy' limit
+        ''' </summary>
+        PCAN_ERROR_BUSHEAVY = &H8
+        ''' <summary>
+        ''' Bus error: an error counter reached the 'warning' limit
+        ''' </summary>
+        PCAN_ERROR_BUSWARNING = PCAN_ERROR_BUSHEAVY
+        ''' <summary>
+        ''' Bus error: the CAN controller is error passive
+        ''' </summary>
+        PCAN_ERROR_BUSPASSIVE = &H40000
+        ''' <summary>
+        ''' Bus error: the CAN controller is in bus-off state
+        ''' </summary>
+        PCAN_ERROR_BUSOFF = &H10
+        ''' <summary>
+        ''' Mask for all bus errors
+        ''' </summary>
+        PCAN_ERROR_ANYBUSERR = (PCAN_ERROR_BUSWARNING Or PCAN_ERROR_BUSLIGHT Or PCAN_ERROR_BUSHEAVY Or PCAN_ERROR_BUSOFF Or PCAN_ERROR_BUSPASSIVE)
+        ''' <summary>
+        ''' Receive queue is empty
+        ''' </summary>
+        PCAN_ERROR_QRCVEMPTY = &H20
+        ''' <summary>
+        ''' Receive queue was read too late
+        ''' </summary>
+        PCAN_ERROR_QOVERRUN = &H40
+        ''' <summary>
+        ''' Transmit queue is full
+        ''' </summary>
+        PCAN_ERROR_QXMTFULL = &H80
+        ''' <summary>
+        ''' Test of the CAN controller hardware registers failed (no hardware found)
+        ''' </summary>
+        PCAN_ERROR_REGTEST = &H100
+        ''' <summary>
+        ''' Driver not loaded
+        ''' </summary>
+        PCAN_ERROR_NODRIVER = &H200
+        ''' <summary>
+        ''' Hardware already in use by a Net
+        ''' </summary>
+        PCAN_ERROR_HWINUSE = &H400
+        ''' <summary>
+        ''' A Client is already connected to the Net
+        ''' </summary>
+        PCAN_ERROR_NETINUSE = &H800
+        ''' <summary>
+        ''' Hardware handle is invalid
+        ''' </summary>
+        PCAN_ERROR_ILLHW = &H1400
+        ''' <summary>
+        ''' Net handle is invalid
+        ''' </summary>
+        PCAN_ERROR_ILLNET = &H1800
+        ''' <summary>
+        ''' Client handle is invalid
+        ''' </summary>
+        PCAN_ERROR_ILLCLIENT = &H1C00
+        ''' <summary>
+        ''' Mask for all handle errors
+        ''' </summary>
+        PCAN_ERROR_ILLHANDLE = (PCAN_ERROR_ILLHW Or PCAN_ERROR_ILLNET Or PCAN_ERROR_ILLCLIENT)
+        ''' <summary>
+        ''' Resource (FIFO, Client, timeout) cannot be created
+        ''' </summary>
+        PCAN_ERROR_RESOURCE = &H2000
+        ''' <summary>
+        ''' Invalid parameter
+        ''' </summary>
+        PCAN_ERROR_ILLPARAMTYPE = &H4000
+        ''' <summary>
+        ''' Invalid parameter value
+        ''' </summary>
+        PCAN_ERROR_ILLPARAMVAL = &H8000
+        ''' <summary>
+        ''' Unknown error
+        ''' </summary>
+        PCAN_ERROR_UNKNOWN = &H10000
+        ''' <summary>
+        ''' Invalid data, function, or action.
+        ''' </summary>
+        PCAN_ERROR_ILLDATA = &H20000
+        ''' <summary>
+        ''' Driver object state is wrong for the attempted operation
+        ''' </summary>
+        PCAN_ERROR_ILLMODE = &H80000
+        ''' <summary>
+        ''' An operation was successfully carried out, however, irregularities were registered
+        ''' </summary>
+        PCAN_ERROR_CAUTION = &H2000000
+        ''' <summary>
+        ''' Channel is not initialized
+        ''' <remarks>Value was changed from 0x40000 to 0x4000000</remarks>
+        ''' </summary>
+        PCAN_ERROR_INITIALIZE = &H4000000
+        ''' <summary>
+        ''' Invalid operation
+        ''' <remarks>Value was changed from 0x80000 to 0x8000000</remarks>
+        ''' </summary>
+        PCAN_ERROR_ILLOPERATION = &H8000000
+    End Enum
+
+    ''' <summary>
+    ''' Represents a PCAN device
+    ''' </summary>
+    Public Enum TPCANDevice As Byte
+        ''' <summary>
+        ''' Undefined, unknown or not selected PCAN device value
+        ''' </summary>
+        PCAN_NONE = 0
+        ''' <summary>
+        ''' PCAN Non-PnP devices. NOT USED WITHIN PCAN-Basic API
+        ''' </summary>        
+        PCAN_PEAKCAN = 1
+        ''' <summary>
+        ''' PCAN-ISA, PCAN-PC/104, and PCAN-PC/104-Plus
+        ''' </summary>
+        PCAN_ISA = 2
+        ''' <summary>
+        ''' PCAN-Dongle
+        ''' </summary>
+        PCAN_DNG = 3
+        ''' <summary>
+        ''' PCAN-PCI, PCAN-cPCI, PCAN-miniPCI, and PCAN-PCI Express
+        ''' </summary>
+        PCAN_PCI = 4
+        ''' <summary>
+        ''' PCAN-USB and PCAN-USB Pro
+        ''' </summary>
+        PCAN_USB = 5
+        ''' <summary>
+        ''' PCAN-PC Card
+        ''' </summary>
+        PCAN_PCC = 6
+        ''' <summary>
+        ''' PCAN Virtual hardware. NOT USED WITHIN PCAN-Basic API
+        ''' </summary>
+        PCAN_VIRTUAL = 7
+        ''' <summary>
+        ''' PCAN Gateway devices
+        ''' </summary>
+        PCAN_LAN = 8
+    End Enum
+
+    ''' <summary>
+    ''' Represents a PCAN parameter to be read or set
+    ''' </summary>
+    Public Enum TPCANParameter As Byte
+        ''' <summary>
+        ''' Device identifier parameter
+        ''' </summary>
+        PCAN_DEVICE_ID = 1
+        ''' <summary>
+        ''' DEPRECATED. Use PCAN_DEVICE_ID instead
+        ''' </summary>
+        <Obsolete>
+        PCAN_DEVICE_NUMBER = PCAN_DEVICE_ID
+        ''' <summary>
+        ''' 5-Volt power parameter
+        ''' </summary>
+        PCAN_5VOLTS_POWER = 2
+        ''' <summary>
+        ''' PCAN receive event handler parameter
+        ''' </summary>
+        PCAN_RECEIVE_EVENT = 3
+        ''' <summary>
+        ''' PCAN message filter parameter
+        ''' </summary>
+        PCAN_MESSAGE_FILTER = 4
+        ''' <summary>
+        ''' PCAN-Basic API version parameter
+        ''' </summary>
+        PCAN_API_VERSION = 5
+        ''' <summary>
+        ''' PCAN device channel version parameter
+        ''' </summary>
+        PCAN_CHANNEL_VERSION = 6
+        ''' <summary>
+        ''' PCAN Reset-On-Busoff parameter
+        ''' </summary>
+        PCAN_BUSOFF_AUTORESET = 7
+        ''' <summary>
+        ''' PCAN Listen-Only parameter
+        ''' </summary>
+        PCAN_LISTEN_ONLY = 8
+        ''' <summary>
+        ''' Directory path for log files
+        ''' </summary>
+        PCAN_LOG_LOCATION = 9
+        ''' <summary>
+        ''' Debug-Log activation status
+        ''' </summary>
+        PCAN_LOG_STATUS = 10
+        ''' <summary>
+        ''' Configuration of the debugged information (LOG_FUNCTION_***)
+        ''' </summary>
+        PCAN_LOG_CONFIGURE = 11
+        ''' <summary>
+        ''' Custom insertion of text into the log file
+        ''' </summary>
+        PCAN_LOG_TEXT = 12
+        ''' <summary>
+        ''' Availability status of a PCAN-Channel
+        ''' </summary>
+        PCAN_CHANNEL_CONDITION = 13
+        ''' <summary>
+        ''' PCAN hardware name parameter
+        ''' </summary>
+        PCAN_HARDWARE_NAME = 14
+        ''' <summary>
+        ''' Message reception status of a PCAN-Channel
+        ''' </summary>
+        PCAN_RECEIVE_STATUS = 15
+        ''' <summary>
+        ''' CAN-Controller number of a PCAN-Channel
+        ''' </summary>
+        PCAN_CONTROLLER_NUMBER = 16
+        ''' <summary>
+        ''' Directory path for PCAN trace files
+        ''' </summary>
+        PCAN_TRACE_LOCATION = 17
+        ''' <summary>
+        ''' CAN tracing activation status
+        ''' </summary>
+        PCAN_TRACE_STATUS = 18
+        ''' <summary>
+        ''' Configuration of the maximum file size of a CAN trace
+        ''' </summary>
+        PCAN_TRACE_SIZE = 19
+        ''' <summary>
+        ''' Configuration of the trace file storing mode (TRACE_FILE_***)
+        ''' </summary>
+        PCAN_TRACE_CONFIGURE = 20
+        ''' <summary>
+        ''' Physical identification of a USB based PCAN-Channel by blinking its associated LED
+        ''' </summary>
+        PCAN_CHANNEL_IDENTIFYING = 21
+        ''' <summary>
+        ''' Capabilities of a PCAN device (FEATURE_***)
+        ''' </summary>
+        PCAN_CHANNEL_FEATURES = 22
+        ''' <summary>
+        ''' Using of an existing bit rate (PCAN-View connected to a channel)
+        ''' </summary>
+        PCAN_BITRATE_ADAPTING = 23
+        ''' <summary>
+        ''' Configured bit rate as Btr0Btr1 value
+        ''' </summary>
+        PCAN_BITRATE_INFO = 24
+        ''' <summary>
+        ''' Configured bit rate as TPCANBitrateFD string
+        ''' </summary>
+        PCAN_BITRATE_INFO_FD = 25
+        ''' <summary>
+        ''' Configured nominal CAN Bus speed as Bits per seconds
+        ''' </summary>
+        PCAN_BUSSPEED_NOMINAL = 26
+        ''' <summary>
+        ''' Configured CAN data speed as Bits per seconds
+        ''' </summary>
+        PCAN_BUSSPEED_DATA = 27
+        ''' <summary>
+        ''' Remote address of a LAN channel as string in IPv4 format
+        ''' </summary>
+        PCAN_IP_ADDRESS = 28
+        ''' <summary>
+        ''' Status of the Virtual PCAN-Gateway Service 
+        ''' </summary>
+        PCAN_LAN_SERVICE_STATUS = 29
+        ''' <summary>
+        ''' Status messages reception status within a PCAN-Channel
+        ''' </summary>
+        PCAN_ALLOW_STATUS_FRAMES = 30
+        ''' <summary>
+        ''' RTR messages reception status within a PCAN-Channel
+        ''' </summary>
+        PCAN_ALLOW_RTR_FRAMES = 31
+        ''' <summary>
+        ''' Error messages reception status within a PCAN-Channel
+        ''' </summary>
+        PCAN_ALLOW_ERROR_FRAMES = 32
+        ''' <summary>
+        ''' Delay, in microseconds, between sending frames
+        ''' </summary>
+        PCAN_INTERFRAME_DELAY = 33
+        ''' <summary>
+        ''' Filter over code and mask patterns for 11-Bit messages
+        ''' </summary>
+        PCAN_ACCEPTANCE_FILTER_11BIT = 34
+        ''' <summary>
+        ''' Filter over code and mask patterns for 29-Bit messages
+        ''' </summary>
+        PCAN_ACCEPTANCE_FILTER_29BIT = 35
+        ''' <summary>
+        ''' Output mode of 32 digital I/O pin of a PCAN-USB Chip. 1: Output-Active 0 : Output Inactive
+        ''' </summary>
+        PCAN_IO_DIGITAL_CONFIGURATION = 36
+        ''' <summary>
+        ''' Value assigned to a 32 digital I/O pins of a PCAN-USB Chip
+        ''' </summary>
+        PCAN_IO_DIGITAL_VALUE = 37
+        ''' <summary>
+        ''' Value assigned to a 32 digital I/O pins of a PCAN-USB Chip - Multiple digital I/O pins to 1 = High
+        ''' </summary>
+        PCAN_IO_DIGITAL_SET = 38
+        ''' <summary>
+        ''' Clear multiple digital I/O pins to 0
+        ''' </summary>
+        PCAN_IO_DIGITAL_CLEAR = 39
+        ''' <summary>
+        ''' Get value of a single analog input pin
+        ''' </summary>
+        PCAN_IO_ANALOG_VALUE = 40
+        ''' <summary>
+        ''' Get the version of the firmware used by the device associated with a PCAN-Channel
+        ''' </summary>
+        PCAN_FIRMWARE_VERSION = 41
+        ''' <summary>
+        ''' Get the amount of PCAN channels attached to a system
+        ''' </summary>
+        PCAN_ATTACHED_CHANNELS_COUNT = 42
+        ''' <summary>
+        ''' Get information about PCAN channels attached to a system
+        ''' </summary>
+        PCAN_ATTACHED_CHANNELS = 43
+        ''' <summary>
+        ''' Echo messages reception status within a PCAN-Channel
+        ''' </summary>
+        PCAN_ALLOW_ECHO_FRAMES = 44
+        ''' <summary>
+        ''' Get the part number associated to a device
+        ''' </summary>
+        PCAN_DEVICE_PART_NUMBER = 45
+    End Enum
+
+    ''' <summary>
+    ''' Represents the type of a PCAN message
+    ''' </summary>
+    <Flags()> _
+    Public Enum TPCANMessageType As Byte
+        ''' <summary>
+        ''' The PCAN message is a CAN Standard Frame (11-bit identifier)
+        ''' </summary>
+        PCAN_MESSAGE_STANDARD = &H0
+        ''' <summary>
+        ''' The PCAN message is a CAN Remote-Transfer-Request Frame
+        ''' </summary>
+        PCAN_MESSAGE_RTR = &H1
+        ''' <summary>
+        ''' The PCAN message is a CAN Extended Frame (29-bit identifier)
+        ''' </summary>
+        PCAN_MESSAGE_EXTENDED = &H2
+        ''' <summary>
+        ''' The PCAN message represents a FD frame in terms of CiA Specs
+        ''' </summary>
+        PCAN_MESSAGE_FD = &H4
+        ''' <summary>
+        ''' The PCAN message represents a FD bit rate switch (CAN data at a higher bit rate)
+        ''' </summary>
+        PCAN_MESSAGE_BRS = &H8
+        ''' <summary>
+        ''' The PCAN message represents a FD error state indicator(CAN FD transmitter was error active)
+        ''' </summary>
+        PCAN_MESSAGE_ESI = &H10
+        ''' <summary>
+        ''' The PCAN message represents an echo CAN Frame
+        ''' </summary>
+        PCAN_MESSAGE_ECHO = &H20
+        ''' <summary>
+        ''' The PCAN message represents an error frame
+        ''' </summary>
+        PCAN_MESSAGE_ERRFRAME = &H40
+        ''' <summary>
+        ''' The PCAN message represents a PCAN status message
+        ''' </summary>
+        PCAN_MESSAGE_STATUS = &H80
+    End Enum
+
+    ''' <summary>
+    ''' Represents a PCAN filter mode
+    ''' </summary>
+    Public Enum TPCANMode As Byte
+        ''' <summary>
+        ''' Mode is Standard (11-bit identifier)
+        ''' </summary>
+        PCAN_MODE_STANDARD = TPCANMessageType.PCAN_MESSAGE_STANDARD
+        ''' <summary>
+        ''' Mode is Extended (29-bit identifier)
+        ''' </summary>
+        PCAN_MODE_EXTENDED = TPCANMessageType.PCAN_MESSAGE_EXTENDED
+    End Enum
+
+    ''' <summary>
+    ''' Represents a PCAN Baud rate register value
+    ''' </summary>
+    Public Enum TPCANBaudrate As UInt16
+        ''' <summary>
+        ''' 1 MBit/s
+        ''' </summary>
+        PCAN_BAUD_1M = &H14
+        ''' <summary>
+        ''' 800 kBit/s
+        ''' </summary>
+        PCAN_BAUD_800K = &H16
+        ''' <summary>
+        ''' 500 kBit/s
+        ''' </summary>
+        PCAN_BAUD_500K = &H1C
+        ''' <summary>
+        ''' 250 kBit/s
+        ''' </summary>
+        PCAN_BAUD_250K = &H11C
+        ''' <summary>
+        ''' 125 kBit/s
+        ''' </summary>
+        PCAN_BAUD_125K = &H31C
+        ''' <summary>
+        ''' 100 kBit/s
+        ''' </summary>
+        PCAN_BAUD_100K = &H432F
+        ''' <summary>
+        ''' 95,238 kBit/s
+        ''' </summary>
+        PCAN_BAUD_95K = &HC34E
+        ''' <summary>
+        ''' 83,333 kBit/s
+        ''' </summary>
+        PCAN_BAUD_83K = &H852B
+        ''' <summary>
+        ''' 50 kBit/s
+        ''' </summary>
+        PCAN_BAUD_50K = &H472F
+        ''' <summary>
+        ''' 47,619 kBit/s
+        ''' </summary>
+        PCAN_BAUD_47K = &H1414
+        ''' <summary>
+        ''' 33,333 kBit/s
+        ''' </summary>
+        PCAN_BAUD_33K = &H8B2F
+        ''' <summary>
+        ''' 20 kBit/s
+        ''' </summary>
+        PCAN_BAUD_20K = &H532F
+        ''' <summary>
+        ''' 10 kBit/s
+        ''' </summary>
+        PCAN_BAUD_10K = &H672F
+        ''' <summary>
+        ''' 5 kBit/s
+        ''' </summary>
+        PCAN_BAUD_5K = &H7F7F
+    End Enum
+
+    ''' <summary>
+    ''' Represents the type of PCAN (Non-PnP) hardware to be initialized
+    ''' </summary>
+    Public Enum TPCANType As Byte
+        ''' <summary>
+        ''' PCAN-ISA 82C200
+        ''' </summary>
+        PCAN_TYPE_ISA = &H1
+        ''' <summary>
+        ''' PCAN-ISA SJA1000
+        ''' </summary>
+        PCAN_TYPE_ISA_SJA = &H9
+        ''' <summary>
+        ''' PHYTEC ISA 
+        ''' </summary>
+        PCAN_TYPE_ISA_PHYTEC = &H4
+        ''' <summary>
+        ''' PCAN-Dongle 82C200
+        ''' </summary>
+        PCAN_TYPE_DNG = &H2
+        ''' <summary>
+        ''' PCAN-Dongle EPP 82C200
+        ''' </summary>
+        PCAN_TYPE_DNG_EPP = &H3
+        ''' <summary>
+        ''' PCAN-Dongle SJA1000
+        ''' </summary>
+        PCAN_TYPE_DNG_SJA = &H5
+        ''' <summary>
+        ''' PCAN-Dongle EPP SJA1000
+        ''' </summary>
+        PCAN_TYPE_DNG_SJA_EPP = &H6
+    End Enum
+#End Region
+
+#Region "Structures"
+    ''' <summary>
+    ''' Represents a PCAN message
+    ''' </summary>
+    Public Structure TPCANMsg
+        ''' <summary>
+        ''' 11/29-bit message identifier
+        ''' </summary>
+        Public ID As UInt32
+        ''' <summary>
+        ''' Type of the message
+        ''' </summary>
+        <MarshalAs(UnmanagedType.U1)> _
+        Public MSGTYPE As TPCANMessageType
+        ''' <summary>
+        ''' Data Length Code of the message (0..8)
+        ''' </summary>
+        Public LEN As Byte
+        ''' <summary>
+        ''' Data of the message (DATA[0]..DATA[7])
+        ''' </summary>
+        <MarshalAs(UnmanagedType.ByValArray, SizeConst:=8)> _
+        Public DATA As Byte()
+    End Structure
+
+    ''' <summary>
+    ''' Represents a timestamp of a received PCAN message.
+    ''' Total Microseconds = micros + 1000 * millis + 0x100000000 * 1000 * millis_overflow
+    ''' </summary>
+    Public Structure TPCANTimestamp
+        ''' <summary>
+        ''' Base-value: milliseconds: 0.. 2^32-1
+        ''' </summary>
+        Public millis As UInt32
+        ''' <summary>
+        ''' Roll-arounds of millis
+        ''' </summary>
+        Public millis_overflow As UInt16
+        ''' <summary>
+        ''' Microseconds: 0..999
+        ''' </summary>
+        Public micros As UInt16
+    End Structure
+
+    ''' <summary>
+    ''' Represents a PCAN message from a FD capable hardware
+    ''' </summary>
+    Public Structure TPCANMsgFD
+        ''' <summary>
+        ''' 11/29-bit message identifier
+        ''' </summary>
+        Public ID As UInt32
+        ''' <summary>
+        ''' Type of the message
+        ''' </summary>
+        <MarshalAs(UnmanagedType.U1)>
+        Public MSGTYPE As TPCANMessageType
+        ''' <summary>
+        ''' Data Length Code of the message (0..15)
+        ''' </summary>
+        Public DLC As Byte
+        ''' <summary>
+        ''' Data of the message (DATA[0]..DATA[63])
+        ''' </summary>
+        <MarshalAs(UnmanagedType.ByValArray, SizeConst:=64)>
+        Public DATA As Byte()
+    End Structure
+
+
+    ''' <summary>
+    ''' Describes an available PCAN channel
+    ''' </summary>
+    Public Structure TPCANChannelInformation
+        ''' <summary>
+        ''' PCAN channel handle
+        ''' </summary>
+        <MarshalAs(UnmanagedType.U2)>
+        Public channel_handle As TPCANHandle
+        ''' <summary>
+        ''' Kind of PCAN device
+        ''' </summary>
+        <MarshalAs(UnmanagedType.U1)>
+        Public device_type As TPCANDevice
+        ''' <summary>
+        ''' CAN-Controller number
+        ''' </summary>
+        Public controller_number As Byte
+        ''' <summary>
+        ''' Device capabilities flag (see FEATURE_*)
+        ''' </summary>
+        Public device_features As UInt32
+        ''' <summary>
+        ''' Device name
+        ''' </summary>
+        <MarshalAs(UnmanagedType.ByValTStr, SizeConst:=PCANBasic.MAX_LENGTH_HARDWARE_NAME)>
+        Public device_name As String
+        ''' <summary>
+        ''' Device number
+        ''' </summary>
+        Public device_id As UInt32
+        ''' <summary>
+        ''' Availability status of a PCAN-Channel
+        ''' </summary>
+        Public channel_condition As UInt32
+    End Structure
+#End Region
+
+#Region "PCANBasic class"
+    ''' <summary>
+    ''' PCAN-Basic API class implementation
+    ''' </summary>
+    Public NotInheritable Class PCANBasic
+#Region "PCAN-BUS Handles Definition"
+        ''' <summary>
+        ''' Undefined/default value for a PCAN bus
+        ''' </summary>
+        Public Const PCAN_NONEBUS As TPCANHandle = &H0
+
+        ''' <summary>
+        ''' PCAN-ISA interface, channel 1
+        ''' </summary>
+        Public Const PCAN_ISABUS1 As TPCANHandle = &H21
+        ''' <summary>
+        ''' PCAN-ISA interface, channel 2
+        ''' </summary>
+        Public Const PCAN_ISABUS2 As TPCANHandle = &H22
+        ''' <summary>
+        ''' PCAN-ISA interface, channel 3
+        ''' </summary>
+        Public Const PCAN_ISABUS3 As TPCANHandle = &H23
+        ''' <summary>
+        ''' PCAN-ISA interface, channel 4
+        ''' </summary>
+        Public Const PCAN_ISABUS4 As TPCANHandle = &H24
+        ''' <summary>
+        ''' PCAN-ISA interface, channel 5
+        ''' </summary>
+        Public Const PCAN_ISABUS5 As TPCANHandle = &H25
+        ''' <summary>
+        ''' PCAN-ISA interface, channel 6
+        ''' </summary>
+        Public Const PCAN_ISABUS6 As TPCANHandle = &H26
+        ''' <summary>
+        ''' PCAN-ISA interface, channel 7
+        ''' </summary>
+        Public Const PCAN_ISABUS7 As TPCANHandle = &H27
+        ''' <summary>
+        ''' PCAN-ISA interface, channel 8
+        ''' </summary>
+        Public Const PCAN_ISABUS8 As TPCANHandle = &H28
+
+        ''' <summary>
+        ''' PPCAN-Dongle/LPT interface, channel 1 
+        ''' </summary>
+        Public Const PCAN_DNGBUS1 As TPCANHandle = &H31
+
+        ''' <summary>
+        ''' PCAN-PCI interface, channel 1
+        ''' </summary>
+        Public Const PCAN_PCIBUS1 As TPCANHandle = &H41
+        ''' <summary>
+        ''' PCAN-PCI interface, channel 2
+        ''' </summary>
+        Public Const PCAN_PCIBUS2 As TPCANHandle = &H42
+        ''' <summary>
+        ''' PCAN-PCI interface, channel 3
+        ''' </summary>
+        Public Const PCAN_PCIBUS3 As TPCANHandle = &H43
+        ''' <summary>
+        ''' PCAN-PCI interface, channel 4
+        ''' </summary>
+        Public Const PCAN_PCIBUS4 As TPCANHandle = &H44
+        ''' <summary>
+        ''' PCAN-PCI interface, channel 5
+        ''' </summary>
+        Public Const PCAN_PCIBUS5 As TPCANHandle = &H45
+        ''' <summary>
+        ''' PCAN-PCI interface, channel 6
+        ''' </summary>
+        Public Const PCAN_PCIBUS6 As TPCANHandle = &H46
+        ''' <summary>
+        ''' PCAN-PCI interface, channel 7
+        ''' </summary>
+        Public Const PCAN_PCIBUS7 As TPCANHandle = &H47
+        ''' <summary>
+        ''' PCAN-PCI interface, channel 8
+        ''' </summary>
+        Public Const PCAN_PCIBUS8 As TPCANHandle = &H48
+        ''' <summary>
+        ''' PCAN-PCI interface, channel 9
+        ''' </summary>
+        Public Const PCAN_PCIBUS9 As TPCANHandle = &H409
+        ''' <summary>
+        ''' PCAN-PCI interface, channel 10
+        ''' </summary>
+        Public Const PCAN_PCIBUS10 As TPCANHandle = &H40A
+        ''' <summary>
+        ''' PCAN-PCI interface, channel 11
+        ''' </summary>
+        Public Const PCAN_PCIBUS11 As TPCANHandle = &H40B
+        ''' <summary>
+        ''' PCAN-PCI interface, channel 12
+        ''' </summary>
+        Public Const PCAN_PCIBUS12 As TPCANHandle = &H40C
+        ''' <summary>
+        ''' PCAN-PCI interface, channel 13
+        ''' </summary>
+        Public Const PCAN_PCIBUS13 As TPCANHandle = &H40D
+        ''' <summary>
+        ''' PCAN-PCI interface, channel 14
+        ''' </summary>
+        Public Const PCAN_PCIBUS14 As TPCANHandle = &H40E
+        ''' <summary>
+        ''' PCAN-PCI interface, channel 15
+        ''' </summary>
+        Public Const PCAN_PCIBUS15 As TPCANHandle = &H40F
+        ''' <summary>
+        ''' PCAN-PCI interface, channel 16
+        ''' </summary>
+        Public Const PCAN_PCIBUS16 As TPCANHandle = &H410
+
+        ''' <summary>
+        ''' PCAN-USB interface, channel 1
+        ''' </summary>
+        Public Const PCAN_USBBUS1 As TPCANHandle = &H51
+        ''' <summary>
+        ''' PCAN-USB interface, channel 2
+        ''' </summary>
+        Public Const PCAN_USBBUS2 As TPCANHandle = &H52
+        ''' <summary>
+        ''' PCAN-USB interface, channel 3
+        ''' </summary>
+        Public Const PCAN_USBBUS3 As TPCANHandle = &H53
+        ''' <summary>
+        ''' PCAN-USB interface, channel 4
+        ''' </summary>
+        Public Const PCAN_USBBUS4 As TPCANHandle = &H54
+        ''' <summary>
+        ''' PCAN-USB interface, channel 5
+        ''' </summary>
+        Public Const PCAN_USBBUS5 As TPCANHandle = &H55
+        ''' <summary>
+        ''' PCAN-USB interface, channel 6
+        ''' </summary>
+        Public Const PCAN_USBBUS6 As TPCANHandle = &H56
+        ''' <summary>
+        ''' PCAN-USB interface, channel 7
+        ''' </summary>
+        Public Const PCAN_USBBUS7 As TPCANHandle = &H57
+        ''' <summary>
+        ''' PCAN-USB interface, channel 8
+        ''' </summary>
+        Public Const PCAN_USBBUS8 As TPCANHandle = &H58
+        ''' <summary>
+        ''' PCAN-USB interface, channel 9
+        ''' </summary>
+        Public Const PCAN_USBBUS9 As TPCANHandle = &H509
+        ''' <summary>
+        ''' PCAN-USB interface, channel 10
+        ''' </summary>
+        Public Const PCAN_USBBUS10 As TPCANHandle = &H50A
+        ''' <summary>
+        ''' PCAN-USB interface, channel 11
+        ''' </summary>
+        Public Const PCAN_USBBUS11 As TPCANHandle = &H50B
+        ''' <summary>
+        ''' PCAN-USB interface, channel 12
+        ''' </summary>
+        Public Const PCAN_USBBUS12 As TPCANHandle = &H50C
+        ''' <summary>
+        ''' PCAN-USB interface, channel 13
+        ''' </summary>
+        Public Const PCAN_USBBUS13 As TPCANHandle = &H50D
+        ''' <summary>
+        ''' PCAN-USB interface, channel 14
+        ''' </summary>
+        Public Const PCAN_USBBUS14 As TPCANHandle = &H50E
+        ''' <summary>
+        ''' PCAN-USB interface, channel 15
+        ''' </summary>
+        Public Const PCAN_USBBUS15 As TPCANHandle = &H50F
+        ''' <summary>
+        ''' PCAN-USB interface, channel 16
+        ''' </summary>
+        Public Const PCAN_USBBUS16 As TPCANHandle = &H510
+
+        ''' <summary>
+        ''' PCAN-PC Card interface, channel 1
+        ''' </summary>
+        Public Const PCAN_PCCBUS1 As TPCANHandle = &H61
+        ''' <summary>
+        ''' PCAN-PC Card interface, channel 2
+        ''' </summary>
+        Public Const PCAN_PCCBUS2 As TPCANHandle = &H62
+
+        ''' <summary>
+        ''' PCAN-LAN interface, channel 1
+        ''' </summary>
+        Public Const PCAN_LANBUS1 As TPCANHandle = &H801
+        ''' <summary>
+        ''' PCAN-LAN interface, channel 2
+        ''' </summary>
+        Public Const PCAN_LANBUS2 As TPCANHandle = &H802
+        ''' <summary>
+        ''' PCAN-LAN interface, channel 3
+        ''' </summary>
+        Public Const PCAN_LANBUS3 As TPCANHandle = &H803
+        ''' <summary>
+        ''' PCAN-LAN interface, channel 4
+        ''' </summary>
+        Public Const PCAN_LANBUS4 As TPCANHandle = &H804
+        ''' <summary>
+        ''' PCAN-LAN interface, channel 5
+        ''' </summary>
+        Public Const PCAN_LANBUS5 As TPCANHandle = &H805
+        ''' <summary>
+        ''' PCAN-LAN interface, channel 6
+        ''' </summary>
+        Public Const PCAN_LANBUS6 As TPCANHandle = &H806
+        ''' <summary>
+        ''' PCAN-LAN interface, channel 7
+        ''' </summary>
+        Public Const PCAN_LANBUS7 As TPCANHandle = &H807
+        ''' <summary>
+        ''' PCAN-LAN interface, channel 8
+        ''' </summary>
+        Public Const PCAN_LANBUS8 As TPCANHandle = &H808
+        ''' <summary>
+        ''' PCAN-LAN interface, channel 9
+        ''' </summary>
+        Public Const PCAN_LANBUS9 As TPCANHandle = &H809
+        ''' <summary>
+        ''' PCAN-LAN interface, channel 10
+        ''' </summary>
+        Public Const PCAN_LANBUS10 As TPCANHandle = &H80A
+        ''' <summary>
+        ''' PCAN-LAN interface, channel 11
+        ''' </summary>
+        Public Const PCAN_LANBUS11 As TPCANHandle = &H80B
+        ''' <summary>
+        ''' PCAN-LAN interface, channel 12
+        ''' </summary>
+        Public Const PCAN_LANBUS12 As TPCANHandle = &H80C
+        ''' <summary>
+        ''' PCAN-LAN interface, channel 13
+        ''' </summary>
+        Public Const PCAN_LANBUS13 As TPCANHandle = &H80D
+        ''' <summary>
+        ''' PCAN-LAN interface, channel 14
+        ''' </summary>
+        Public Const PCAN_LANBUS14 As TPCANHandle = &H80E
+        ''' <summary>
+        ''' PCAN-LAN interface, channel 15
+        ''' </summary>
+        Public Const PCAN_LANBUS15 As TPCANHandle = &H80F
+        ''' <summary>
+        ''' PCAN-LAN interface, channel 16
+        ''' </summary>
+        Public Const PCAN_LANBUS16 As TPCANHandle = &H810
+#End Region
+
+#Region "FD Bit rate parameters"
+        ''' <summary>
+        ''' Clock frequency in Herz (80000000, 60000000, 40000000, 30000000, 24000000, 20000000)
+        ''' </summary>
+        Public Const PCAN_BR_CLOCK As String = "f_clock"
+        ''' <summary>
+        ''' Clock frequency in Megaherz (80, 60, 40, 30, 24, 20)
+        ''' </summary>
+        Public Const PCAN_BR_CLOCK_MHZ As String = "f_clock_mhz"
+        ''' <summary>
+        ''' Clock prescaler for nominal time quantum
+        ''' </summary>
+        Public Const PCAN_BR_NOM_BRP As String = "nom_brp"
+        ''' <summary>
+        ''' TSEG1 segment for nominal bit rate in time quanta
+        ''' </summary>
+        Public Const PCAN_BR_NOM_TSEG1 As String = "nom_tseg1"
+        ''' <summary>
+        ''' TSEG2 segment for nominal bit rate in time quanta
+        ''' </summary>
+        Public Const PCAN_BR_NOM_TSEG2 As String = "nom_tseg2"
+        ''' <summary>
+        ''' Synchronization Jump Width for nominal bit rate in time quanta
+        ''' </summary>
+        Public Const PCAN_BR_NOM_SJW As String = "nom_sjw"
+        ''' <summary>
+        ''' Sample point for nominal bit rate
+        ''' </summary>
+        Public Const PCAN_BR_NOM_SAMPLE As String = "nom_sam"
+        ''' <summary>
+        ''' Clock prescaler for highspeed data time quantum
+        ''' </summary>
+        Public Const PCAN_BR_DATA_BRP As String = "data_brp"
+        ''' <summary>
+        ''' TSEG1 segment for fast data bit rate in time quanta
+        ''' </summary>
+        Public Const PCAN_BR_DATA_TSEG1 As String = "data_tseg1"
+        ''' <summary>
+        ''' TSEG2 segment for fast data bit rate in time quanta
+        ''' </summary>
+        Public Const PCAN_BR_DATA_TSEG2 As String = "data_tseg2"
+        ''' <summary>
+        ''' Synchronization Jump Width for highspeed data bit rate in time quanta
+        ''' </summary>
+        Public Const PCAN_BR_DATA_SJW As String = "data_sjw"
+        ''' <summary>
+        ''' Secondary sample point delay for highspeed data bit rate in cyles
+        ''' </summary>
+        Public Const PCAN_BR_DATA_SAMPLE As String = "data_ssp_offset"
+#End Region
+
+#Region "Parameter values definition"
+        ''' <summary>
+        ''' The PCAN parameter is not set (inactive)
+        ''' </summary>
+        Public Const PCAN_PARAMETER_OFF As Integer = 0
+        ''' <summary>
+        ''' The PCAN parameter is set (active)
+        ''' </summary>
+        Public Const PCAN_PARAMETER_ON As Integer = 1
+        ''' <summary>
+        ''' The PCAN filter is closed. No messages will be received
+        ''' </summary>
+        Public Const PCAN_FILTER_CLOSE As Integer = 0
+        ''' <summary>
+        ''' The PCAN filter is fully opened. All messages will be received
+        ''' </summary>
+        Public Const PCAN_FILTER_OPEN As Integer = 1
+        ''' <summary>
+        ''' The PCAN filter is custom configured. Only registered 
+        ''' messages will be received
+        ''' </summary>
+        Public Const PCAN_FILTER_CUSTOM As Integer = 2
+        ''' <summary>
+        ''' The PCAN-Channel handle is illegal, or its associated hardware is not available
+        ''' </summary>
+        Public Const PCAN_CHANNEL_UNAVAILABLE As Integer = 0
+        ''' <summary>
+        ''' The PCAN-Channel handle is available to be connected (PnP Hardware: it means furthermore that the hardware is plugged-in)
+        ''' </summary>
+        Public Const PCAN_CHANNEL_AVAILABLE As Integer = 1
+        ''' <summary>
+        ''' The PCAN-Channel handle is valid, and is already being used
+        ''' </summary>
+        Public Const PCAN_CHANNEL_OCCUPIED As Integer = 2
+        ''' <summary>
+        ''' The PCAN-Channel handle is already being used by a PCAN-View application, but is available to connect
+        ''' </summary>
+        Public Const PCAN_CHANNEL_PCANVIEW As Integer = PCAN_CHANNEL_AVAILABLE Or PCAN_CHANNEL_OCCUPIED
+
+        ''' <summary>
+        ''' Logs system exceptions / errors
+        ''' </summary>
+        Public Const LOG_FUNCTION_DEFAULT As Integer = &H0
+        ''' <summary>
+        ''' Logs the entries to the PCAN-Basic API functions 
+        ''' </summary>
+        Public Const LOG_FUNCTION_ENTRY As Integer = &H1
+        ''' <summary>
+        ''' Logs the parameters passed to the PCAN-Basic API functions 
+        ''' </summary>
+        Public Const LOG_FUNCTION_PARAMETERS As Integer = &H2
+        ''' <summary>
+        ''' Logs the exits from the PCAN-Basic API functions 
+        ''' </summary>
+        Public Const LOG_FUNCTION_LEAVE As Integer = &H4
+        ''' <summary>
+        ''' Logs the CAN messages passed to the CAN_Write function
+        ''' </summary>
+        Public Const LOG_FUNCTION_WRITE As Integer = &H8
+        ''' <summary>
+        ''' Logs the CAN messages received within the CAN_Read function
+        ''' </summary>
+        Public Const LOG_FUNCTION_READ As Integer = &H10
+        ''' <summary>
+        ''' Logs all possible information within the PCAN-Basic API functions
+        ''' </summary>
+        Public Const LOG_FUNCTION_ALL As Integer = &HFFFF
+
+        ''' <summary>
+        ''' A single file is written until it size reaches PAN_TRACE_SIZE
+        ''' </summary>
+        Public Const TRACE_FILE_SINGLE As Integer = &H0
+        ''' <summary>
+        ''' Traced data is distributed in several files with size PAN_TRACE_SIZE
+        ''' </summary>
+        Public Const TRACE_FILE_SEGMENTED As Integer = &H1
+        ''' <summary>
+        ''' Includes the date into the name of the trace file
+        ''' </summary>
+        Public Const TRACE_FILE_DATE As Integer = &H2
+        ''' <summary>
+        ''' Includes the start time into the name of the trace file
+        ''' </summary>
+        Public Const TRACE_FILE_TIME As Integer = &H4
+        ''' <summary>
+        ''' Causes the overwriting of available traces (same name)
+        ''' </summary>
+        Public Const TRACE_FILE_OVERWRITE As Integer = &H80
+
+        ''' <summary>
+        ''' Device supports flexible data-rate (CAN-FD)
+        ''' </summary>
+        Public Const FEATURE_FD_CAPABLE As Integer = &H1
+        ''' <summary>
+        ''' Device supports a delay between sending frames (FPGA based USB devices)
+        ''' </summary>
+        Public Const FEATURE_DELAY_CAPABLE As Integer = &H2
+        ''' <summary>
+        ''' Device supports I/O functionality for electronic circuits (USB-Chip devices)
+        ''' </summary>
+        Public Const FEATURE_IO_CAPABLE As Integer = &H4
+
+        ''' <summary>
+        ''' The service is not running
+        ''' </summary>
+        Public Const SERVICE_STATUS_STOPPED As Integer = &H1
+        ''' <summary>
+        ''' The service is running
+        ''' </summary>
+        Public Const SERVICE_STATUS_RUNNING As Integer = &H4
+#End Region
+
+#Region "Lookup Parameters"
+        ''' <summary>
+        ''' Lookup channel by Device type (see PCAN devices e.g. PCAN_USB)
+        ''' </summary>
+        Public Const LOOKUP_DEVICE_TYPE As String = "devicetype"
+        ''' <summary>
+        ''' Lookup channel by device id
+        ''' </summary>
+        Public Const LOOKUP_DEVICE_ID As String = "deviceid"
+        ''' <summary>
+        ''' Lookup channel by CAN controller 0-based index
+        ''' </summary>
+        Public Const LOOKUP_CONTROLLER_NUMBER As String = "controllernumber"
+        ''' <summary>
+        ''' Lookup channel by IP address (LAN channels only)
+        ''' </summary>
+        Public Const LOOKUP_IP_ADDRESS As String = "ipaddress"
+#End Region
+
+#Region "Other Constants"
+        ''' <summary>
+        ''' Maximum length of the name of a device: 32 characters + terminator
+        ''' </summary>
+        Public Const MAX_LENGTH_HARDWARE_NAME As Integer = 33
+        ''' <summary>
+        ''' ' Maximum length of a version string: 255 characters + terminator
+        ''' </summary>
+        Public Const MAX_LENGTH_VERSION_STRING As Integer = 256
+#End Region
+
+#Region "PCANBasic API Implementation"
+        ''' <summary>
+        ''' Initializes a PCAN Channel 
+        ''' </summary>
+        ''' <param name="Channel">The handle of a PCAN Channel</param>
+        ''' <param name="Btr0Btr1">The speed for the communication (BTR0BTR1 code)</param>
+        ''' <param name="HwType">Non-PnP: The type of hardware and operation mode</param>
+        ''' <param name="IOPort">Non-PnP: The I/O address for the parallel port</param>
+        ''' <param name="Interrupt">Non-PnP: Interrupt number of the parallel por</param>
+        ''' <returns>A TPCANStatus error code</returns>
+        <DllImport("PCANBasic.dll", EntryPoint:="CAN_Initialize")> _
+        Public Shared Function Initialize( _
+            <MarshalAs(UnmanagedType.U2)> _
+            ByVal Channel As TPCANHandle, _
+            <MarshalAs(UnmanagedType.U2)> _
+            ByVal Btr0Btr1 As TPCANBaudrate, _
+            <MarshalAs(UnmanagedType.U1)> _
+            ByVal HwType As TPCANType, _
+            ByVal IOPort As UInt32, _
+            ByVal Interrupt As UInt16) As TPCANStatus
+        End Function
+
+        ''' <summary>
+        ''' Initializes a PCAN Channel
+        ''' </summary>
+        ''' <param name="Channel">The handle of a PCAN Channel</param>
+        ''' <param name="Btr0Btr1">The speed for the communication (BTR0BTR1 code)</param>
+        ''' <returns>A TPCANStatus error code</returns>
+        Public Shared Function Initialize( _
+            ByVal Channel As TPCANHandle, _
+            ByVal Btr0Btr1 As TPCANBaudrate) As TPCANStatus
+            Return Initialize(Channel, Btr0Btr1, 0, 0, 0)
+        End Function
+
+        ''' <summary>
+        ''' Initializes a FD capable PCAN Channel 
+        ''' </summary>
+        ''' <param name="Channel">The handle of a FD capable PCAN Channel</param>
+        ''' <param name="BitrateFD">The speed for the communication (FD bit rate string)</param>
+        ''' <remarks> See PCAN_BR_* values
+        ''' Bit rate string must follow the following construction rules:
+        ''' * parameter and values must be separated by '='
+        ''' * Couples of Parameter/value must be separated by ','
+        ''' * Following Parameter must be filled out: f_clock, data_brp, data_sjw, data_tseg1, data_tseg2,
+        '''   nom_brp, nom_sjw, nom_tseg1, nom_tseg2.
+        ''' * Following Parameters are optional (not used yet): data_ssp_offset, nom_sam</remarks>
+        ''' <example>f_clock=80000000,nom_brp=10,nom_tseg1=5,nom_tseg2=2,nom_sjw=1,data_brp=4,data_tseg1=7,data_tseg2=2,data_sjw=1</example>
+        ''' <returns>A TPCANStatus error code</returns>
+        <DllImport("PCANBasic.dll", EntryPoint:="CAN_InitializeFD")> _
+        Public Shared Function InitializeFD( _
+            <MarshalAs(UnmanagedType.U2)> _
+            ByVal Channel As TPCANHandle, _
+            ByVal BitrateFD As TPCANBitrateFD) As TPCANStatus
+        End Function
+
+        ''' <summary>
+        ''' Uninitializes one or all PCAN Channels initialized by CAN_Initialize
+        ''' </summary>
+        ''' <remarks>Giving the TPCANHandle value "PCAN_NONEBUS", 
+        ''' uninitialize all initialized channels</remarks>
+        ''' <param name="Channel">The handle of a PCAN Channel</param>
+        ''' <returns>A TPCANStatus error code</returns>
+        <DllImport("PCANBasic.dll", EntryPoint:="CAN_Uninitialize")> _
+        Public Shared Function Uninitialize( _
+            <MarshalAs(UnmanagedType.U2)> _
+            ByVal Channel As TPCANHandle) As TPCANStatus
+        End Function
+
+        ''' <summary>
+        ''' Resets the receive and transmit queues of the PCAN Channel
+        ''' </summary>
+        ''' <remarks>A reset of the CAN controller is not performed</remarks>
+        ''' <param name="Channel">The handle of a PCAN Channel</param>
+        ''' <returns>A TPCANStatus error code</returns>
+        <DllImport("PCANBasic.dll", EntryPoint:="CAN_Reset")> _
+        Public Shared Function Reset( _
+            <MarshalAs(UnmanagedType.U2)> _
+            ByVal Channel As TPCANHandle) As TPCANStatus
+        End Function
+
+        ''' <summary>
+        ''' Gets the current status of a PCAN Channel
+        ''' </summary>
+        ''' <param name="Channel">The handle of a PCAN Channel</param>
+        ''' <returns>A TPCANStatus error code</returns>
+        <DllImport("PCANBasic.dll", EntryPoint:="CAN_GetStatus")> _
+        Public Shared Function GetStatus( _
+            <MarshalAs(UnmanagedType.U2)> _
+            ByVal Channel As TPCANHandle) As TPCANStatus
+        End Function
+
+        ''' <summary>
+        ''' Reads a CAN message from the receive queue of a PCAN Channel
+        ''' </summary>
+        ''' <param name="Channel">The handle of a PCAN Channel</param>
+        ''' <param name="MessageBuffer">A TPCANMsg structure buffer to store the CAN message</param>
+        ''' <param name="TimestampBuffer">A TPCANTimestamp structure buffer to get
+        ''' the reception time of the message</param>
+        ''' <returns>A TPCANStatus error code</returns>
+        <DllImport("PCANBasic.dll", EntryPoint:="CAN_Read")> _
+        Public Shared Function Read( _
+            <MarshalAs(UnmanagedType.U2)> _
+            ByVal Channel As TPCANHandle, _
+            ByRef MessageBuffer As TPCANMsg, _
+            ByRef TimestampBuffer As TPCANTimestamp) As TPCANStatus
+        End Function
+
+        <DllImport("PCANBasic.dll", EntryPoint:="CAN_Read")> _
+        Private Shared Function Read( _
+            <MarshalAs(UnmanagedType.U2)> _
+            ByVal Channel As TPCANHandle, _
+            ByRef MessageBuffer As TPCANMsg, _
+            ByVal BufferPointer As IntPtr) As TPCANStatus
+        End Function
+
+        ''' <summary>
+        ''' Reads a CAN message from the receive queue of a PCAN Channel
+        ''' </summary>
+        ''' <param name="Channel">The handle of a PCAN Channel</param>
+        ''' <param name="MessageBuffer">A TPCANMsg structure buffer to store the CAN message</param>        
+        ''' <returns>A TPCANStatus error code</returns>
+        Public Shared Function Read( _
+            ByVal Channel As TPCANHandle, _
+            ByRef MessageBuffer As TPCANMsg) As TPCANStatus
+            Return Read(Channel, MessageBuffer, IntPtr.Zero)
+        End Function
+
+        ''' <summary>
+        ''' Reads a CAN message from the receive queue of a FD capable PCAN Channel 
+        ''' </summary>
+        ''' <param name="Channel">The handle of a FD capable PCAN Channel</param>
+        ''' <param name="MessageBuffer">A TPCANMsgFD structure buffer to store the CAN message</param>
+        ''' <param name="TimestampBuffer">A TPCANTimestampFD buffer to get the
+        ''' reception time of the message</param>
+        ''' <returns>A TPCANStatus error code</returns>
+        <DllImport("PCANBasic.dll", EntryPoint:="CAN_ReadFD")> _
+        Public Shared Function ReadFD( _
+            <MarshalAs(UnmanagedType.U2)> _
+            ByVal Channel As TPCANHandle, _
+            ByRef MessageBuffer As TPCANMsgFD, _
+            ByRef TimestampBuffer As TPCANTimestampFD) As TPCANStatus
+        End Function
+
+        <DllImport("PCANBasic.dll", EntryPoint:="CAN_ReadFD")> _
+        Private Shared Function ReadFD( _
+            <MarshalAs(UnmanagedType.U2)> _
+            ByVal Channel As TPCANHandle, _
+            ByRef MessageBuffer As TPCANMsgFD, _
+            ByVal TimestampBuffer As IntPtr) As TPCANStatus
+        End Function
+
+        ''' <summary>
+        ''' Reads a CAN message from the receive queue of a FD capable PCAN Channel 
+        ''' </summary>
+        ''' <param name="Channel">The handle of a FD capable PCAN Channel</param>
+        ''' <param name="MessageBuffer">A TPCANMsgFD structure buffer to store the CAN message</param>
+        ''' <returns>A TPCANStatus error code</returns>
+        Public Shared Function ReadFD( _
+            ByVal Channel As TPCANHandle, _
+            ByRef MessageBuffer As TPCANMsgFD) As TPCANStatus
+            Return ReadFD(Channel, MessageBuffer, IntPtr.Zero)
+        End Function
+
+        ''' <summary>
+        '''  Transmits a CAN message 
+        ''' </summary>
+        ''' <param name="Channel">The handle of a PCAN Channel</param>
+        ''' <param name="MessageBuffer">A TPCANMsg buffer with the message to be sent</param>
+        ''' <returns>A TPCANStatus error code</returns>
+        <DllImport("PCANBasic.dll", EntryPoint:="CAN_Write")> _
+        Public Shared Function Write( _
+            <MarshalAs(UnmanagedType.U2)> _
+            ByVal Channel As TPCANHandle, _
+            ByRef MessageBuffer As TPCANMsg) As TPCANStatus
+        End Function
+
+        ''' <summary>
+        ''' Transmits a CAN message over a FD capable PCAN Channel
+        ''' </summary>
+        ''' <param name="Channel">The handle of a FD capable PCAN Channel</param>
+        ''' <param name="MessageBuffer">A TPCANMsgFD buffer with the message to be sent</param>
+        ''' <returns>A TPCANStatus error code</returns>
+        <DllImport("PCANBasic.dll", EntryPoint:="CAN_WriteFD")> _
+        Public Shared Function WriteFD( _
+            <MarshalAs(UnmanagedType.U2)> _
+            ByVal Channel As TPCANHandle, _
+            ByRef MessageBuffer As TPCANMsgFD) As TPCANStatus
+        End Function
+
+        ''' <summary>
+        ''' Configures the reception filter
+        ''' </summary>
+        ''' <remarks>The message filter will be expanded with every call to 
+        ''' this function. If it is desired to reset the filter, please use
+        ''' the 'SetValue' function</remarks>
+        ''' <param name="Channel">The handle of a PCAN Channel</param>
+        ''' <param name="FromID">The lowest CAN ID to be received</param>
+        ''' <param name="ToID">The highest CAN ID to be received</param>
+        ''' <param name="Mode">Message type, Standard (11-bit identifier) or
+        ''' Extended (29-bit identifier)</param>
+        ''' <returns>A TPCANStatus error code</returns>
+        <DllImport("PCANBasic.dll", EntryPoint:="CAN_FilterMessages")> _
+        Public Shared Function FilterMessages( _
+            <MarshalAs(UnmanagedType.U2)> _
+            ByVal Channel As TPCANHandle, _
+            ByVal FromID As UInt32, _
+            ByVal ToID As UInt32, _
+            <MarshalAs(UnmanagedType.U1)> _
+            ByVal Mode As TPCANMode) As TPCANStatus
+        End Function
+
+        ''' <summary>
+        ''' Retrieves a PCAN Channel value
+        ''' </summary>
+        ''' <remarks>Parameters can be present or not according with the kind 
+        ''' of Hardware (PCAN Channel) being used. If a parameter is not available,
+        ''' a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+        ''' <param name="Channel">The handle of a PCAN Channel</param>
+        ''' <param name="Parameter">The TPCANParameter parameter to get</param>
+        ''' <param name="StringBuffer">Buffer for the parameter value</param>
+        ''' <param name="BufferLength">Size in bytes of the buffer</param>
+        ''' <returns>A TPCANStatus error code</returns>
+        <DllImport("PCANBasic.dll", EntryPoint:="CAN_GetValue")> _
+        Public Shared Function GetValue( _
+            <MarshalAs(UnmanagedType.U2)> _
+            ByVal Channel As TPCANHandle, _
+            <MarshalAs(UnmanagedType.U1)> _
+            ByVal Parameter As TPCANParameter, _
+            ByVal StringBuffer As StringBuilder, _
+            ByVal BufferLength As UInt32) As TPCANStatus
+        End Function
+
+        ''' <summary>
+        ''' Retrieves a PCAN Channel value
+        ''' </summary>
+        ''' <remarks>Parameters can be present or not according with the kind 
+        ''' of Hardware (PCAN Channel) being used. If a parameter is not available,
+        ''' a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+        ''' <param name="Channel">The handle of a PCAN Channel</param>
+        ''' <param name="Parameter">The TPCANParameter parameter to get</param>
+        ''' <param name="NumericBuffer">Buffer for the parameter value</param>
+        ''' <param name="BufferLength">Size in bytes of the buffer</param>
+        ''' <returns>A TPCANStatus error code</returns>
+        <DllImport("PCANBasic.dll", EntryPoint:="CAN_GetValue")>
+        Public Shared Function GetValue(
+            <MarshalAs(UnmanagedType.U2)>
+            ByVal Channel As TPCANHandle,
+            <MarshalAs(UnmanagedType.U1)>
+            ByVal Parameter As TPCANParameter,
+            ByRef NumericBuffer As UInt32,
+            ByVal BufferLength As UInt32) As TPCANStatus
+        End Function
+
+        ''' <summary>
+        ''' Retrieves a PCAN Channel value
+        ''' </summary>
+        ''' <remarks>Parameters can be present or not according with the kind 
+        ''' of Hardware (PCAN Channel) being used. If a parameter is not available,
+        ''' a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+        ''' <param name="Channel">The handle of a PCAN Channel</param>
+        ''' <param name="Parameter">The TPCANParameter parameter to get</param>
+        ''' <param name="NumericBuffer">Buffer for the parameter value</param>
+        ''' <param name="BufferLength">Size in bytes of the buffer</param>
+        ''' <returns>A TPCANStatus error code</returns>
+        <DllImport("PCANBasic.dll", EntryPoint:="CAN_GetValue")>
+        Public Shared Function GetValue(
+            <MarshalAs(UnmanagedType.U2)>
+            ByVal Channel As TPCANHandle,
+            <MarshalAs(UnmanagedType.U1)>
+            ByVal Parameter As TPCANParameter,
+            ByRef NumericBuffer As UInt64,
+            ByVal BufferLength As UInt32) As TPCANStatus
+        End Function
+
+        <DllImport("PCANBasic.dll", EntryPoint:="CAN_GetValue")>
+        Private Shared Function GetValue(
+            <MarshalAs(UnmanagedType.U2)>
+            ByVal Channel As TPCANHandle,
+            <MarshalAs(UnmanagedType.U1)>
+            ByVal Parameter As TPCANParameter,
+            <MarshalAs(UnmanagedType.LPArray, SizeParamIndex:=3)>
+            <[In], Out> ByVal ChannelsBuffer() As TPCANChannelInformation,
+            ByVal BufferLength As UInt32) As TPCANStatus
+        End Function
+
+        ''' <summary>
+        ''' Retrieves a PCAN Channel value
+        ''' </summary>
+        ''' <remarks>Parameters can be present or not according with the kind 
+        ''' of Hardware (PCAN Channel) being used. If a parameter is not available,
+        ''' a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+        ''' <param name="Channel">The handle of a PCAN Channel</param>
+        ''' <param name="Parameter">The TPCANParameter parameter to get</param>
+        ''' <param name="ChannelsBuffer">Buffer for the parameter value</param>
+        ''' <returns>A TPCANStatus error code</returns>
+        Public Shared Function GetValue(
+            ByVal Channel As TPCANHandle,
+            ByVal Parameter As TPCANParameter,
+            ByVal ChannelsBuffer() As TPCANChannelInformation) As TPCANStatus
+            If (ChannelsBuffer Is Nothing) Then
+                Return TPCANStatus.PCAN_ERROR_ILLPARAMVAL
+            End If
+            Return GetValue(Channel, Parameter, ChannelsBuffer, ChannelsBuffer.Length * Marshal.SizeOf(GetType(TPCANChannelInformation)))
+        End Function
+
+        ''' <summary>
+        ''' Configures or sets a PCAN Channel value 
+        ''' </summary>
+        ''' <remarks>Parameters can be present or not according with the kind 
+        ''' of Hardware (PCAN Channel) being used. If a parameter is not available,
+        ''' a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+        ''' <param name="Channel">The handle of a PCAN Channel</param>
+        ''' <param name="Parameter">The TPCANParameter parameter to set</param>
+        ''' <param name="NumericBuffer">Buffer with the value to be set</param>
+        ''' <param name="BufferLength">Size in bytes of the buffer</param>
+        ''' <returns>A TPCANStatus error code</returns>
+        <DllImport("PCANBasic.dll", EntryPoint:="CAN_SetValue")>
+        Public Shared Function SetValue(
+            <MarshalAs(UnmanagedType.U2)>
+            ByVal Channel As TPCANHandle,
+            <MarshalAs(UnmanagedType.U1)>
+            ByVal Parameter As TPCANParameter,
+            ByRef NumericBuffer As UInt32,
+            ByVal BufferLength As UInt32) As TPCANStatus
+        End Function
+
+        ''' <summary>
+        ''' Configures or sets a PCAN Channel value 
+        ''' </summary>
+        ''' <remarks>Parameters can be present or not according with the kind 
+        ''' of Hardware (PCAN Channel) being used. If a parameter is not available,
+        ''' a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+        ''' <param name="Channel">The handle of a PCAN Channel</param>
+        ''' <param name="Parameter">The TPCANParameter parameter to set</param>
+        ''' <param name="NumericBuffer">Buffer with the value to be set</param>
+        ''' <param name="BufferLength">Size in bytes of the buffer</param>
+        ''' <returns>A TPCANStatus error code</returns>
+        <DllImport("PCANBasic.dll", EntryPoint:="CAN_SetValue")>
+        Public Shared Function SetValue(
+            <MarshalAs(UnmanagedType.U2)>
+            ByVal Channel As TPCANHandle,
+            <MarshalAs(UnmanagedType.U1)>
+            ByVal Parameter As TPCANParameter,
+            ByRef NumericBuffer As UInt64,
+            ByVal BufferLength As UInt32) As TPCANStatus
+        End Function
+
+        ''' <summary>
+        ''' Configures or sets a PCAN Channel value 
+        ''' </summary>
+        ''' <remarks>Parameters can be present or not according with the kind 
+        ''' of Hardware (PCAN Channel) being used. If a parameter is not available,
+        ''' a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+        ''' <param name="Channel">The handle of a PCAN Channel</param>
+        ''' <param name="Parameter"></param>
+        ''' <param name="StringBuffer">Buffer with the value to be set</param>
+        ''' <param name="BufferLength">Size in bytes of the buffer</param>
+        ''' <returns>A TPCANStatus error code</returns>
+        <DllImport("PCANBasic.dll", EntryPoint:="CAN_SetValue")> _
+        Public Shared Function SetValue( _
+            <MarshalAs(UnmanagedType.U2)> _
+            ByVal Channel As TPCANHandle, _
+            <MarshalAs(UnmanagedType.U1)> _
+            ByVal Parameter As TPCANParameter, _
+            <MarshalAs(UnmanagedType.LPStr, SizeParamIndex:=3)> _
+            ByVal StringBuffer As String, _
+            ByVal BufferLength As UInt32) As TPCANStatus
+        End Function
+
+        ''' <summary>
+        ''' Returns a descriptive text of a given TPCANStatus error 
+        ''' code, in any desired language
+        ''' </summary>
+        ''' <remarks>The current languages available for translation are: 
+        ''' Neutral (0x00), German (0x07), English (0x09), Spanish (0x0A),
+        ''' Italian (0x10) and French (0x0C)</remarks>
+        ''' <param name="anError">A TPCANStatus error code</param>
+        ''' <param name="Language">Indicates a 'Primary language ID'</param>
+        ''' <param name="StringBuffer">Buffer for the text (must be at least 256 in length)</param>
+        ''' <returns>A TPCANStatus error code</returns>
+        <DllImport("PCANBasic.dll", EntryPoint:="CAN_GetErrorText")>
+        Public Shared Function GetErrorText(
+            <MarshalAs(UnmanagedType.U4)>
+            ByVal anError As TPCANStatus,
+            ByVal Language As UInt16,
+            ByVal StringBuffer As StringBuilder) As TPCANStatus
+        End Function
+
+        ''' <summary>
+        ''' Finds a PCAN-Basic channel that matches with the given parameters
+        ''' </summary>
+        ''' <param name="Parameters">A comma separated string contained pairs of 
+        ''' parameter-name/value to be matched within a PCAN-Basic channel</param>
+        ''' <param name="FoundChannel">Buffer for returning the PCAN-Basic channel, 
+        ''' when found</param>
+        ''' <returns>A TPCANStatus error code</returns>
+        <DllImport("PCANBasic.dll", EntryPoint:="CAN_LookUpChannel")>
+        Public Shared Function LookUpChannel(
+            ByVal Parameters As String,
+            ByRef FoundChannel As TPCANHandle) As TPCANStatus
+        End Function
+#End Region
+    End Class
+#End Region
+End Namespace
+
+

third_party/PCAN_Basic/Include/PCANBasicCLR.h

+//  PCANBasicCLR.h
+//
+//  ~~~~~~~~~~~~
+//
+//  PCAN-Basic API
+//
+//  ~~~~~~~~~~~~
+//
+//  ------------------------------------------------------------------
+//  Author : Keneth Wagner
+//  Last change: 2022-07-06
+//
+//  Language: C++/CLR
+//  ------------------------------------------------------------------
+//
+//  Copyright (C) 1999-2022  PEAK-System Technik GmbH, Darmstadt
+//  more Info at http://www.peak-system.com 
+//
+using namespace System;
+using namespace System::Text;
+using namespace System::Runtime::InteropServices;
+
+////////////////////////////////////////////////////////////
+// Type definitions
+////////////////////////////////////////////////////////////
+#define TPCANHandle                 System::UInt16  // Represents a PCAN hardware channel handle
+#define TPCANBitrateFD              System::String^ // Represents a bit rate String (Flexible Data rate)
+#define TPCANTimestampFD            System::UInt64  // Represents a timestamp in microseconds
+
+namespace Peak
+{
+    namespace Can
+    {
+        namespace Basic
+        {
+            #pragma region Other Constants 
+            /// <summary>
+            /// Maximum length of the name of a device: 32 characters + terminator
+            /// </summary>
+            static const int MAX_LENGTH_HARDWARE_NAME = 33;
+            /// <summary>
+            /// Maximum length of a version string: 255 characters + terminator
+            /// </summary>
+            static const int MAX_LENGTH_VERSION_STRING = 256;
+            #pragma endregion
+
+            #pragma region Enumerations
+            /// <summary>
+            /// Represents a PCAN status/error code
+            /// </summary>
+            [Flags]
+            public enum class TPCANStatus : UInt32
+            {
+                /// <summary>
+                /// No error
+                /// </summary>
+                PCAN_ERROR_OK           = 0x00000,
+                /// <summary>
+                /// Transmit buffer in CAN controller is full
+                /// </summary>
+                PCAN_ERROR_XMTFULL      = 0x00001,
+                /// <summary>
+                /// CAN controller was read too late
+                /// </summary>
+                PCAN_ERROR_OVERRUN      = 0x00002,  
+                /// <summary>
+                /// Bus error: an error counter reached the 'light' limit
+                /// </summary>
+                PCAN_ERROR_BUSLIGHT     = 0x00004,  
+                /// <summary>
+                /// Bus error: an error counter reached the 'heavy' limit
+                /// </summary>
+                PCAN_ERROR_BUSHEAVY     = 0x00008,  
+                /// <summary>
+                /// Bus error: an error counter reached the 'warning' limit
+                /// </summary>
+                PCAN_ERROR_BUSWARNING   = PCAN_ERROR_BUSHEAVY,
+                /// <summary>
+                /// Bus error: the CAN controller is error passive
+                /// </summary>
+                PCAN_ERROR_BUSPASSIVE   = 0x40000,
+                /// <summary>
+                /// Bus error: the CAN controller is in bus-off state
+                /// </summary>
+                PCAN_ERROR_BUSOFF       = 0x00010,  
+                /// <summary>
+                /// Mask for all bus errors
+                /// </summary>
+                PCAN_ERROR_ANYBUSERR    = (PCAN_ERROR_BUSWARNING | PCAN_ERROR_BUSLIGHT | PCAN_ERROR_BUSHEAVY | PCAN_ERROR_BUSOFF | PCAN_ERROR_BUSPASSIVE),
+                /// <summary>
+                /// Receive queue is empty
+                /// </summary>
+                PCAN_ERROR_QRCVEMPTY    = 0x00020,  
+                /// <summary>
+                /// Receive queue was read too late
+                /// </summary>
+                PCAN_ERROR_QOVERRUN     = 0x00040,  
+                /// <summary>
+                /// Transmit queue is full
+                /// </summary>
+                PCAN_ERROR_QXMTFULL     = 0x00080,  
+                /// <summary>
+                /// Test of the CAN controller hardware registers failed (no hardware found)
+                /// </summary>
+                PCAN_ERROR_REGTEST      = 0x00100,
+                /// <summary>
+                /// Driver not loaded
+                /// </summary>
+                PCAN_ERROR_NODRIVER     = 0x00200,
+                /// <summary>
+                /// Hardware already in use by a Net
+                /// </summary>
+                PCAN_ERROR_HWINUSE      = 0x00400,
+                /// <summary>
+                /// A Client is already connected to the Net
+                /// </summary>
+                PCAN_ERROR_NETINUSE     = 0x00800,
+                /// <summary>
+                /// Hardware handle is invalid
+                /// </summary>
+                PCAN_ERROR_ILLHW        = 0x01400,
+                /// <summary>
+                /// Net handle is invalid
+                /// </summary>
+                PCAN_ERROR_ILLNET       = 0x01800,
+                /// <summary>
+                /// Client handle is invalid
+                /// </summary>
+                PCAN_ERROR_ILLCLIENT    = 0x01C00,
+                /// <summary>
+                /// Mask for all handle errors
+                /// </summary>
+                PCAN_ERROR_ILLHANDLE    = (PCAN_ERROR_ILLHW | PCAN_ERROR_ILLNET | PCAN_ERROR_ILLCLIENT),
+                /// <summary>
+                /// Resource (FIFO, Client, timeout) cannot be created
+                /// </summary>
+                PCAN_ERROR_RESOURCE     = 0x02000,
+                /// <summary>
+                /// Invalid parameter
+                /// </summary>
+                PCAN_ERROR_ILLPARAMTYPE = 0x04000,
+                /// <summary>
+                /// Invalid parameter value
+                /// </summary>
+                PCAN_ERROR_ILLPARAMVAL  = 0x08000,
+                /// <summary>
+                /// Unknown error
+                /// </summary>
+                PCAN_ERROR_UNKNOWN      = 0x10000,
+                /// <summary>
+                /// Invalid data, function, or action.
+                /// </summary>
+                PCAN_ERROR_ILLDATA      = 0x20000,
+                /// <summary>
+                /// Driver object state is wrong for the attempted operation
+                /// </summary>
+                PCAN_ERROR_ILLMODE      = 0x80000,
+                /// <summary>
+                /// An operation was successfully carried out, however, irregularities were registered
+                /// </summary>
+                PCAN_ERROR_CAUTION      = 0x2000000,
+                /// <summary>
+                /// Channel is not initialized
+                /// <remarks>Value was changed from 0x40000 to 0x4000000</remarks>
+                /// </summary>
+                PCAN_ERROR_INITIALIZE   = 0x4000000,
+                /// <summary>
+                /// Invalid operation
+                /// <remarks>Value was changed from 0x80000 to 0x8000000</remarks>
+                /// </summary>
+                PCAN_ERROR_ILLOPERATION = 0x8000000,
+            };
+
+            /// <summary>
+            /// Represents a PCAN device
+            /// </summary>
+            public enum class TPCANDevice : Byte
+            {
+                /// <summary>
+                /// Undefined, unknown or not selected PCAN device value
+                /// </summary>
+                PCAN_NONE = 0,
+                /// <summary>
+                /// PCAN Non-PnP devices. NOT USED WITHIN PCAN-Basic API
+                /// </summary>
+                PCAN_PEAKCAN = 1,
+                /// <summary>
+                /// PCAN-ISA, PCAN-PC/104, and PCAN-PC/104-Plus
+                /// </summary>
+                PCAN_ISA = 2,
+                /// <summary>
+                /// PCAN-Dongle
+                /// </summary>
+                PCAN_DNG = 3,
+                /// <summary>
+                /// PCAN-PCI, PCAN-cPCI, PCAN-miniPCI, and PCAN-PCI Express
+                /// </summary>
+                PCAN_PCI = 4,
+                /// <summary>
+                /// PCAN-USB and PCAN-USB Pro
+                /// </summary>
+                PCAN_USB = 5,
+                /// <summary>
+                /// PCAN-PC Card
+                /// </summary>
+                PCAN_PCC = 6,
+                /// <summary>
+                /// PCAN Virtual hardware. NOT USED WITHIN PCAN-Basic API
+                /// </summary>
+                PCAN_VIRTUAL = 7,
+                /// <summary>
+                /// PCAN Gateway devices
+                /// </summary>
+                PCAN_LAN = 8
+            };
+
+            /// <summary>
+            /// Represents a PCAN parameter to be read or set
+            /// </summary>
+            public enum class TPCANParameter : Byte
+            {
+                /// <summary>
+                /// Device identifier parameter
+                /// </summary>
+                PCAN_DEVICE_ID               = 1,
+                /// <summary>
+                /// DEPRECATED. Use PCAN_DEVICE_ID instead
+                /// </summary>
+                [Obsolete]
+                PCAN_DEVICE_NUMBER           = PCAN_DEVICE_ID,
+                /// <summary>
+                /// 5-Volt power parameter
+                /// </summary>
+                PCAN_5VOLTS_POWER            = 2,
+                /// <summary>
+                /// PCAN receive event handler parameter
+                /// </summary>
+                PCAN_RECEIVE_EVENT           = 3,
+                /// <summary>
+                /// PCAN message filter parameter
+                /// </summary>
+                PCAN_MESSAGE_FILTER          = 4,
+                /// <summary>
+                /// PCAN-Basic API version parameter
+                /// </summary>
+                PCAN_API_VERSION             = 5,
+                /// <summary>
+                /// PCAN device channel version parameter
+                /// </summary>
+                PCAN_CHANNEL_VERSION         = 6,
+                /// <summary>
+                /// PCAN Reset-On-Busoff parameter
+                /// </summary>
+                PCAN_BUSOFF_AUTORESET        = 7,
+                /// <summary>
+                /// PCAN Listen-Only parameter
+                /// </summary>
+                PCAN_LISTEN_ONLY             = 8,
+                /// <summary>
+                /// Directory path for log files
+                /// </summary>
+                PCAN_LOG_LOCATION            = 9,
+                /// <summary>
+                /// Debug-Log activation status
+                /// </summary>
+                PCAN_LOG_STATUS              = 10,
+                /// <summary>
+                /// Configuration of the debugged information (LOG_FUNCTION_***)
+                /// </summary>
+                PCAN_LOG_CONFIGURE           = 11,
+                /// <summary>
+                /// Custom insertion of text into the log file
+                /// </summary>
+                PCAN_LOG_TEXT                = 12,
+                /// <summary>
+                /// Availability status of a PCAN-Channel
+                /// </summary>
+                PCAN_CHANNEL_CONDITION       = 13,
+                /// <summary>
+                /// PCAN hardware name parameter
+                /// </summary>
+                PCAN_HARDWARE_NAME           = 14,
+                /// <summary>
+                /// Message reception status of a PCAN-Channel
+                /// </summary>
+                PCAN_RECEIVE_STATUS          = 15,
+                /// <summary>
+                /// CAN-Controller number of a PCAN-Channel
+                /// </summary>
+                PCAN_CONTROLLER_NUMBER       = 16,
+                /// <summary>
+                /// Directory path for PCAN trace files
+                /// </summary>
+                PCAN_TRACE_LOCATION          = 17,
+                /// <summary>
+                /// CAN tracing activation status
+                /// </summary>
+                PCAN_TRACE_STATUS            = 18,
+                /// <summary>
+                /// Configuration of the maximum file size of a CAN trace
+                /// </summary>
+                PCAN_TRACE_SIZE              = 19,
+                /// <summary>
+                /// Configuration of the trace file storing mode (TRACE_FILE_***)
+                /// </summary>
+                PCAN_TRACE_CONFIGURE         = 20,
+                /// <summary>
+                /// Physical identification of a USB based PCAN-Channel by blinking its associated LED
+                /// </summary>
+                PCAN_CHANNEL_IDENTIFYING     = 21,
+                /// <summary>
+                /// Capabilities of a PCAN device (FEATURE_***)
+                /// </summary>
+                PCAN_CHANNEL_FEATURES        = 22,
+                /// <summary>
+                /// Using of an existing bit rate (PCAN-View connected to a channel)
+                /// </summary>
+                PCAN_BITRATE_ADAPTING        = 23,
+                /// <summary>
+                /// Configured bit rate as Btr0Btr1 value
+                /// </summary>
+                PCAN_BITRATE_INFO            = 24,
+                /// <summary>
+                /// Configured bit rate as TPCANBitrateFD string
+                /// </summary>
+                PCAN_BITRATE_INFO_FD         = 25,
+                /// <summary>
+                /// Configured nominal CAN Bus speed as Bits per seconds
+                /// </summary>
+                PCAN_BUSSPEED_NOMINAL        = 26,  
+                /// <summary>
+                /// Configured CAN data speed as Bits per seconds
+                /// </summary>
+                PCAN_BUSSPEED_DATA           = 27,
+                /// <summary>
+                /// Remote address of a LAN channel as string in IPv4 format
+                /// </summary>
+                PCAN_IP_ADDRESS              = 28,
+                /// <summary>
+                /// Status of the Virtual PCAN-Gateway Service 
+                /// </summary>
+                PCAN_LAN_SERVICE_STATUS      = 29,
+                /// <summary>
+                /// Status messages reception status within a PCAN-Channel
+                /// </summary>
+                PCAN_ALLOW_STATUS_FRAMES     = 30,
+                /// <summary>
+                /// RTR messages reception status within a PCAN-Channel
+                /// </summary>
+                PCAN_ALLOW_RTR_FRAMES        = 31,
+                /// <summary>
+                /// Error messages reception status within a PCAN-Channel
+                /// </summary>
+                PCAN_ALLOW_ERROR_FRAMES      = 32,
+                /// <summary>
+                /// Delay, in microseconds, between sending frames
+                /// </summary>
+                PCAN_INTERFRAME_DELAY        = 33,
+                /// <summary>
+                /// Filter over code and mask patterns for 11-Bit messages
+                /// </summary>
+                PCAN_ACCEPTANCE_FILTER_11BIT = 34,
+                /// <summary>
+                /// Filter over code and mask patterns for 29-Bit messages
+                /// </summary>
+                PCAN_ACCEPTANCE_FILTER_29BIT = 35,
+                /// <summary>
+                /// Output mode of 32 digital I/O pin of a PCAN-USB Chip. 1: Output-Active 0 : Output Inactive
+                /// </summary>
+                PCAN_IO_DIGITAL_CONFIGURATION = 36,
+                /// <summary>
+                /// Value assigned to a 32 digital I/O pins of a PCAN-USB Chip
+                /// </summary>
+                PCAN_IO_DIGITAL_VALUE = 37,
+                /// <summary>
+                /// Value assigned to a 32 digital I/O pins of a PCAN-USB Chip - Multiple digital I/O pins to 1 = High
+                /// </summary>
+                PCAN_IO_DIGITAL_SET = 38,
+                /// <summary>
+                /// Clear multiple digital I/O pins to 0
+                /// </summary>
+                PCAN_IO_DIGITAL_CLEAR = 39,
+                /// <summary>
+                /// Get value of a single analog input pin
+                /// </summary>
+                PCAN_IO_ANALOG_VALUE = 40,
+                /// <summary>
+                /// Get the version of the firmware used by the device associated with a PCAN-Channel
+                /// </summary>
+                PCAN_FIRMWARE_VERSION = 41,
+                /// <summary>
+                /// Get the amount of PCAN channels attached to a system
+                /// </summary>
+                PCAN_ATTACHED_CHANNELS_COUNT = 42,
+                /// <summary>
+                /// Get information about PCAN channels attached to a system
+                /// </summary>
+                PCAN_ATTACHED_CHANNELS = 43,
+                /// <summary>
+                /// Echo messages reception status within a PCAN-Channel
+                /// </summary>
+                PCAN_ALLOW_ECHO_FRAMES = 44,
+                /// <summary>
+                /// Get the part number associated to a device
+                /// </summary>
+                PCAN_DEVICE_PART_NUMBER = 45,
+            };
+
+            /// Represents the type of a PCAN message
+            /// </summary>
+            [Flags]
+            public enum class TPCANMessageType : Byte
+            {
+                /// <summary>
+                /// The PCAN message is a CAN Standard Frame (11-bit identifier)
+                /// </summary>
+                PCAN_MESSAGE_STANDARD  = 0x00,
+                /// <summary>
+                /// The PCAN message is a CAN Remote-Transfer-Request Frame
+                /// </summary>
+                PCAN_MESSAGE_RTR       = 0x01,
+                /// <summary>
+                /// The PCAN message is a CAN Extended Frame (29-bit identifier)
+                /// </summary>
+                PCAN_MESSAGE_EXTENDED  = 0x02,
+                /// <summary>
+                /// The PCAN message represents a FD frame in terms of CiA Specs
+                /// </summary>
+                PCAN_MESSAGE_FD        = 0x04,
+                /// <summary>
+                /// The PCAN message represents a FD bit rate switch (CAN data at a higher bit rate)
+                /// </summary>
+                PCAN_MESSAGE_BRS       = 0x08,
+                /// <summary>
+                /// The PCAN message represents a FD error state indicator(CAN FD transmitter was error active)
+                /// </summary>
+                PCAN_MESSAGE_ESI       = 0x10,
+                /// <summary>
+                /// The PCAN message represents an echo CAN Frame
+                /// </summary>
+                PCAN_MESSAGE_ECHO      = 0x20,
+                /// <summary>
+                /// The PCAN message represents an error frame
+                /// </summary>
+                PCAN_MESSAGE_ERRFRAME  = 0x40,
+                /// <summary>
+                /// The PCAN message represents a PCAN status message
+                /// <summary>
+                /// </summary>
+                PCAN_MESSAGE_STATUS    = 0x80,                
+            };
+
+            /// <summary>
+            /// Represents a PCAN filter mode
+            /// </summary>
+            public enum class TPCANMode : Byte
+            {
+                /// <summary>
+                /// Mode is Standard (11-bit identifier)
+                /// </summary>
+                PCAN_MODE_STANDARD = TPCANMessageType::PCAN_MESSAGE_STANDARD,
+                /// <summary>
+                /// Mode is Extended (29-bit identifier)
+                /// </summary>
+                PCAN_MODE_EXTENDED = TPCANMessageType::PCAN_MESSAGE_EXTENDED,
+            };
+
+            /// <summary>
+            /// Represents a PCAN Baud rate register value
+            /// </summary>
+            public enum class TPCANBaudrate : UInt16
+            {
+                /// <summary>
+                /// 1 MBit/s
+                /// </summary>
+                PCAN_BAUD_1M      = 0x0014,
+                /// <summary>
+                /// 800 kBit/s
+                /// </summary>
+                PCAN_BAUD_800K    = 0x0016,
+                /// <summary>
+                /// 500 kBit/s
+                /// </summary>
+                PCAN_BAUD_500K    = 0x001C,
+                /// <summary>
+                /// 250 kBit/s
+                /// </summary>
+                PCAN_BAUD_250K    = 0x011C,
+                /// <summary>
+                /// 125 kBit/s
+                /// </summary>
+                PCAN_BAUD_125K    = 0x031C,
+                /// <summary>
+                /// 100 kBit/s
+                /// </summary>
+                PCAN_BAUD_100K    = 0x432F,
+                /// <summary>
+                /// 95,238 kBit/s
+                /// </summary>
+                PCAN_BAUD_95K     = 0xC34E,
+                /// <summary>
+                /// 83,333 kBit/s
+                /// </summary>
+                PCAN_BAUD_83K     = 0x852B,
+                /// <summary>
+                /// 50 kBit/s
+                /// </summary>
+                PCAN_BAUD_50K     = 0x472F,
+                /// <summary>
+                /// 47,619 kBit/s
+                /// </summary>
+                PCAN_BAUD_47K     = 0x1414,
+                /// <summary>
+                /// 33,333 kBit/s
+                /// </summary>
+                PCAN_BAUD_33K     = 0x8B2F,
+                /// <summary>
+                /// 20 kBit/s
+                /// </summary>
+                PCAN_BAUD_20K     = 0x532F,
+                /// <summary>
+                /// 10 kBit/s
+                /// </summary>
+                PCAN_BAUD_10K     = 0x672F,
+                /// <summary>
+                /// 5 kBit/s
+                /// </summary>
+                PCAN_BAUD_5K      = 0x7F7F,
+            };
+
+            /// <summary>
+            /// Represents the type of PCAN (Non-PnP) hardware to be initialized
+            /// </summary>
+            public enum class TPCANType : Byte
+            {
+                /// <summary>
+                /// PCAN-ISA 82C200
+                /// </summary>
+                PCAN_TYPE_ISA           = 0x01,
+                /// <summary>
+                /// PCAN-ISA SJA1000
+                /// </summary>
+                PCAN_TYPE_ISA_SJA       = 0x09,
+                /// <summary>
+                /// PHYTEC ISA 
+                /// </summary>
+                PCAN_TYPE_ISA_PHYTEC    = 0x04,
+                /// <summary>
+                /// PCAN-Dongle 82C200
+                /// </summary>
+                PCAN_TYPE_DNG           = 0x02,
+                /// <summary>
+                /// PCAN-Dongle EPP 82C200
+                /// </summary>
+                PCAN_TYPE_DNG_EPP       = 0x03,
+                /// <summary>
+                /// PCAN-Dongle SJA1000
+                /// </summary>
+                PCAN_TYPE_DNG_SJA       = 0x05,
+                /// <summary>
+                /// PCAN-Dongle EPP SJA1000
+                /// </summary>
+                PCAN_TYPE_DNG_SJA_EPP   = 0x06,
+            };
+            #pragma endregion
+
+            #pragma region Strutures
+            /// <summary>
+            /// Represents a PCAN message
+            /// </summary>
+            public value struct TPCANMsg
+            {
+                /// <summary>
+                /// 11/29-bit message identifier
+                /// </summary>
+                UInt32 ID;
+                /// <summary>
+                /// Type of the message
+                /// </summary>
+                [MarshalAs(UnmanagedType::U1)]
+                TPCANMessageType MSGTYPE;
+                /// <summary>
+                /// Data Length Code of the message (0..8)
+                /// </summary>
+                Byte LEN;
+                /// <summary>
+                /// Data of the message (DATA[0]..DATA[7])
+                /// </summary>
+                [MarshalAs(UnmanagedType::ByValArray, SizeConst = 8)]
+                array<Byte>^ DATA;
+            };
+
+            /// <summary>
+            /// Represents a timestamp of a received PCAN message.
+            /// Total Microseconds = micros + 1000 * millis + 0x100000000 * 1000 * millis_overflow
+            /// </summary>
+            public value struct TPCANTimestamp
+            {
+                /// <summary>
+                /// Base-value: milliseconds: 0.. 2^32-1
+                /// </summary>
+                UInt32 millis;
+                /// <summary>
+                /// Roll-arounds of millis
+                /// </summary>
+                UInt16 millis_overflow;
+                /// <summary>
+                /// Microseconds: 0..999
+                /// </summary>
+                UInt16 micros;
+            };
+
+            /// <summary>
+            /// Represents a PCAN message from a FD capable hardware
+            /// </summary>
+            public value struct TPCANMsgFD
+            {
+                /// <summary>
+                /// 11/29-bit message identifier
+                /// </summary>
+                UInt32 ID;
+                /// <summary>
+                /// Type of the message
+                /// </summary>
+                [MarshalAs(UnmanagedType::U1)]
+                TPCANMessageType MSGTYPE;
+                /// <summary>
+                /// Data Length Code of the message (0..15)
+                /// </summary>
+                Byte DLC;
+                /// <summary>
+                /// Data of the message (DATA[0]..DATA[63])
+                /// </summary>
+                [MarshalAs(UnmanagedType::ByValArray, SizeConst = 64)]
+                array<Byte>^ DATA;
+            };
+
+            /// <summary>
+            /// Describes an available PCAN channel
+            /// </summary>
+            public value struct TPCANChannelInformation
+            {
+                /// <summary>
+                /// PCAN channel handle
+                /// </summary>
+                [MarshalAs(UnmanagedType::U2)]
+                TPCANHandle channel_handle;
+                /// <summary>
+                /// Kind of PCAN device
+                /// </summary>
+                [MarshalAs(UnmanagedType::U1)]
+                TPCANDevice device_type;
+                /// <summary>
+                /// CAN-Controller number
+                /// </summary>
+                Byte controller_number;
+                /// <summary>
+                /// Device capabilities flag (see FEATURE_*)
+                /// </summary>
+                UInt32 device_features;
+                /// <summary>
+                /// Device name
+                /// </summary>
+                [MarshalAs(UnmanagedType::ByValTStr, SizeConst = MAX_LENGTH_HARDWARE_NAME)]
+                String^ device_name;
+                /// <summary>
+                /// Device number
+                /// </summary>
+                UInt32 device_id;
+                /// <summary>
+                /// Availability status of a PCAN-Channel
+                /// </summary>
+                UInt32 channel_condition;
+            };
+            #pragma endregion
+
+            #pragma region PCANBasic class
+            /// <summary>
+            /// PCAN-Basic API class implementation
+            /// </summary>
+            public ref class PCANBasic abstract sealed
+            {
+                public:
+                    #pragma region PCAN-BUS Handles Definition
+                    /// <summary>
+                    /// Undefined/default value for a PCAN bus
+                    /// </summary>
+                    static const TPCANHandle PCAN_NONEBUS = 0x00;
+
+                    /// <summary>
+                    /// PCAN-ISA interface, channel 1
+                    /// </summary>
+                    static const TPCANHandle PCAN_ISABUS1 = 0x21;
+                    /// <summary>
+                    /// PCAN-ISA interface, channel 2
+                    /// </summary>
+                    static const TPCANHandle PCAN_ISABUS2  = 0x22;
+                    /// <summary>
+                    /// PCAN-ISA interface, channel 3
+                    /// </summary>
+                    static const TPCANHandle PCAN_ISABUS3 = 0x23;
+                    /// <summary>
+                    /// PCAN-ISA interface, channel 4
+                    /// </summary>
+                    static const TPCANHandle PCAN_ISABUS4 = 0x24;
+                    /// <summary>
+                    /// PCAN-ISA interface, channel 5
+                    /// </summary>
+                    static const TPCANHandle PCAN_ISABUS5 = 0x25;
+                    /// <summary>
+                    /// PCAN-ISA interface, channel 6
+                    /// </summary>
+                    static const TPCANHandle PCAN_ISABUS6 = 0x26;
+                    /// <summary>
+                    /// PCAN-ISA interface, channel 7
+                    /// </summary>
+                    static const TPCANHandle PCAN_ISABUS7 = 0x27;
+                    /// <summary>
+                    /// PCAN-ISA interface, channel 8
+                    /// </summary>
+                    static const TPCANHandle PCAN_ISABUS8 = 0x28;
+
+                    /// <summary>
+                    /// PPCAN-Dongle/LPT interface, channel 1 
+                    /// </summary>
+                    static const TPCANHandle PCAN_DNGBUS1 = 0x31;
+
+                    /// <summary>
+                    /// PCAN-PCI interface, channel 1
+                    /// </summary>
+                    static const TPCANHandle PCAN_PCIBUS1 = 0x41;
+                    /// <summary>
+                    /// PCAN-PCI interface, channel 2
+                    /// </summary>
+                    static const TPCANHandle PCAN_PCIBUS2 = 0x42;
+                    /// <summary>
+                    /// PCAN-PCI interface, channel 3
+                    /// </summary>
+                    static const TPCANHandle PCAN_PCIBUS3 = 0x43;
+                    /// <summary>
+                    /// PCAN-PCI interface, channel 4
+                    /// </summary>
+                    static const TPCANHandle PCAN_PCIBUS4 = 0x44;
+                    /// <summary>
+                    /// PCAN-PCI interface, channel 5
+                    /// </summary>
+                    static const TPCANHandle PCAN_PCIBUS5 = 0x45;
+                    /// <summary>
+                    /// PCAN-PCI interface, channel 6
+                    /// </summary>
+                    static const TPCANHandle PCAN_PCIBUS6 = 0x46;
+                    /// <summary>
+                    /// PCAN-PCI interface, channel 7
+                    /// </summary>
+                    static const TPCANHandle PCAN_PCIBUS7 = 0x47;
+                    /// <summary>
+                    /// PCAN-PCI interface, channel 8
+                    /// </summary>
+                    static const TPCANHandle PCAN_PCIBUS8 = 0x48;
+                    /// <summary>
+                    /// PCAN-PCI interface, channel 9
+                    /// </summary>
+                    static const TPCANHandle PCAN_PCIBUS9 = 0x409;
+                    /// <summary>
+                    /// PCAN-PCI interface, channel 10
+                    /// </summary>
+                    static const TPCANHandle PCAN_PCIBUS10 = 0x40A;
+                    /// <summary>
+                    /// PCAN-PCI interface, channel 11
+                    /// </summary>
+                    static const TPCANHandle PCAN_PCIBUS11 = 0x40B;
+                    /// <summary>
+                    /// PCAN-PCI interface, channel 12
+                    /// </summary>
+                    static const TPCANHandle PCAN_PCIBUS12 = 0x40C;
+                    /// <summary>
+                    /// PCAN-PCI interface, channel 13
+                    /// </summary>
+                    static const TPCANHandle PCAN_PCIBUS13 = 0x40D;
+                    /// <summary>
+                    /// PCAN-PCI interface, channel 14
+                    /// </summary>
+                    static const TPCANHandle PCAN_PCIBUS14 = 0x40E;
+                    /// <summary>
+                    /// PCAN-PCI interface, channel 15
+                    /// </summary>
+                    static const TPCANHandle PCAN_PCIBUS15 = 0x40F;
+                    /// <summary>
+                    /// PCAN-PCI interface, channel 16
+                    /// </summary>
+                    static const TPCANHandle PCAN_PCIBUS16 = 0x410;
+
+                    /// <summary>
+                    /// PCAN-USB interface, channel 1
+                    /// </summary>
+                    static const TPCANHandle PCAN_USBBUS1 = 0x51;
+                    /// <summary>
+                    /// PCAN-USB interface, channel 2
+                    /// </summary>
+                    static const TPCANHandle PCAN_USBBUS2 = 0x52;
+                    /// <summary>
+                    /// PCAN-USB interface, channel 3
+                    /// </summary>
+                    static const TPCANHandle PCAN_USBBUS3 = 0x53;
+                    /// <summary>
+                    /// PCAN-USB interface, channel 4
+                    /// </summary>
+                    static const TPCANHandle PCAN_USBBUS4 = 0x54;
+                    /// <summary>
+                    /// PCAN-USB interface, channel 5
+                    /// </summary>
+                    static const TPCANHandle PCAN_USBBUS5 = 0x55;
+                    /// <summary>
+                    /// PCAN-USB interface, channel 6
+                    /// </summary>
+                    static const TPCANHandle PCAN_USBBUS6 = 0x56;
+                    /// <summary>
+                    /// PCAN-USB interface, channel 7
+                    /// </summary>
+                    static const TPCANHandle PCAN_USBBUS7 = 0x57;
+                    /// <summary>
+                    /// PCAN-USB interface, channel 8
+                    /// </summary>
+                    static const TPCANHandle PCAN_USBBUS8 = 0x58;
+                    /// <summary>
+                    /// PCAN-USB interface, channel 9
+                    /// </summary>
+                    static const TPCANHandle PCAN_USBBUS9 = 0x509;
+                    /// <summary>
+                    /// PCAN-USB interface, channel 10
+                    /// </summary>
+                    static const TPCANHandle PCAN_USBBUS10 = 0x50A;
+                    /// <summary>
+                    /// PCAN-USB interface, channel 11
+                    /// </summary>
+                    static const TPCANHandle PCAN_USBBUS11 = 0x50B;
+                    /// <summary>
+                    /// PCAN-USB interface, channel 12
+                    /// </summary>
+                    static const TPCANHandle PCAN_USBBUS12 = 0x50C;
+                    /// <summary>
+                    /// PCAN-USB interface, channel 13
+                    /// </summary>
+                    static const TPCANHandle PCAN_USBBUS13 = 0x50D;
+                    /// <summary>
+                    /// PCAN-USB interface, channel 14
+                    /// </summary>
+                    static const TPCANHandle PCAN_USBBUS14 = 0x50E;
+                    /// <summary>
+                    /// PCAN-USB interface, channel 15
+                    /// </summary>
+                    static const TPCANHandle PCAN_USBBUS15 = 0x50F;
+                    /// <summary>
+                    /// PCAN-USB interface, channel 16
+                    /// </summary>
+                    static const TPCANHandle PCAN_USBBUS16 = 0x510;
+
+                    /// <summary>
+                    /// PCAN-PC Card interface, channel 1
+                    /// </summary>
+                    static const TPCANHandle PCAN_PCCBUS1 = 0x61;
+                    /// <summary>
+                    /// PCAN-PC Card interface, channel 2
+                    /// </summary>
+                    static const TPCANHandle PCAN_PCCBUS2 = 0x62;
+
+                    /// <summary>
+                    /// PCAN-LAN interface, channel 1
+                    /// </summary>
+                    static const TPCANHandle PCAN_LANBUS1 = 0x801;
+                    /// <summary>
+                    /// PCAN-LAN interface, channel 2
+                    /// </summary>
+                    static const TPCANHandle PCAN_LANBUS2 = 0x802;
+                    /// <summary>
+                    /// PCAN-LAN interface, channel 3
+                    /// </summary>
+                    static const TPCANHandle PCAN_LANBUS3 = 0x803;
+                    /// <summary>
+                    /// PCAN-LAN interface, channel 4
+                    /// </summary>
+                    static const TPCANHandle PCAN_LANBUS4 = 0x804;
+                    /// <summary>
+                    /// PCAN-LAN interface, channel 5
+                    /// </summary>
+                    static const TPCANHandle PCAN_LANBUS5 = 0x805;
+                    /// <summary>
+                    /// PCAN-LAN interface, channel 6
+                    /// </summary>
+                    static const TPCANHandle PCAN_LANBUS6 = 0x806;
+                    /// <summary>
+                    /// PCAN-LAN interface, channel 7
+                    /// </summary>
+                    static const TPCANHandle PCAN_LANBUS7 = 0x807;
+                    /// <summary>
+                    /// PCAN-LAN interface, channel 8
+                    /// </summary>
+                    static const TPCANHandle PCAN_LANBUS8 = 0x808;
+                    /// <summary>
+                    /// PCAN-LAN interface, channel 9
+                    /// </summary>
+                    static const TPCANHandle PCAN_LANBUS9 = 0x809;
+                    /// <summary>
+                    /// PCAN-LAN interface, channel 10
+                    /// </summary>
+                    static const TPCANHandle PCAN_LANBUS10 = 0x80A;
+                    /// <summary>
+                    /// PCAN-LAN interface, channel 11
+                    /// </summary>
+                    static const TPCANHandle PCAN_LANBUS11 = 0x80B;
+                    /// <summary>
+                    /// PCAN-LAN interface, channel 12
+                    /// </summary>
+                    static const TPCANHandle PCAN_LANBUS12 = 0x80C;
+                    /// <summary>
+                    /// PCAN-LAN interface, channel 13
+                    /// </summary>
+                    static const TPCANHandle PCAN_LANBUS13 = 0x80D;
+                    /// <summary>
+                    /// PCAN-LAN interface, channel 14
+                    /// </summary>
+                    static const TPCANHandle PCAN_LANBUS14 = 0x80E;
+                    /// <summary>
+                    /// PCAN-LAN interface, channel 15
+                    /// </summary>
+                    static const TPCANHandle PCAN_LANBUS15 = 0x80F;
+                    /// <summary>
+                    /// PCAN-LAN interface, channel 16
+                    /// </summary>
+                    static const TPCANHandle PCAN_LANBUS16 = 0x810;
+                    #pragma endregion
+
+                    #pragma region FD Bit rate definition
+                    /// <summary>
+                    /// Clock frequency in Herz (80000000, 60000000, 40000000, 30000000, 24000000, 20000000)
+                    /// </summary>
+                    static const String^ PCAN_BR_CLOCK = "f_clock";
+                    /// <summary>
+                    /// Clock frequency in Megaherz (80, 60, 40, 30, 24, 20)
+                    /// </summary>
+                    static const String^ PCAN_BR_CLOCK_MHZ = "f_clock_mhz";
+                    /// <summary>
+                    /// Clock prescaler for nominal time quantum
+                    /// </summary>
+                    static const String^ PCAN_BR_NOM_BRP = "nom_brp";
+                    /// <summary>
+                    /// TSEG1 segment for nominal bit rate in time quanta
+                    /// </summary>
+                    static const String^ PCAN_BR_NOM_TSEG1 = "nom_tseg1";
+                    /// <summary>
+                    /// TSEG2 segment for nominal bit rate in time quanta
+                    /// </summary>
+                    static const String^ PCAN_BR_NOM_TSEG2 = "nom_tseg2";
+                    /// <summary>
+                    /// Synchronization Jump Width for nominal bit rate in time quanta
+                    /// </summary>
+                    static const String^ PCAN_BR_NOM_SJW = "nom_sjw";
+                    /// <summary>
+                    /// Sample point for nominal bit rate
+                    /// </summary>
+                    static const String^ PCAN_BR_NOM_SAMPLE = "nom_sam";
+                    /// <summary>
+                    /// Clock prescaler for highspeed data time quantum
+                    /// </summary>
+                    static const String^ PCAN_BR_DATA_BRP = "data_brp";
+                    /// <summary>
+                    /// TSEG1 segment for fast data bit rate in time quanta
+                    /// </summary>
+                    static const String^ PCAN_BR_DATA_TSEG1 = "data_tseg1";
+                    /// <summary>
+                    /// TSEG2 segment for fast data bit rate in time quanta
+                    /// </summary>
+                    static const String^ PCAN_BR_DATA_TSEG2 = "data_tseg2";
+                    /// <summary>
+                    /// Synchronization Jump Width for highspeed data bit rate in time quanta
+                    /// </summary>
+                    static const String^ PCAN_BR_DATA_SJW = "data_sjw";
+                    /// <summary>
+                    /// Secondary sample point delay for highspeed data bit rate in cyles
+                    /// </summary>
+                    static const String^ PCAN_BR_DATA_SAMPLE = "data_ssp_offset";
+                    #pragma endregion
+
+                    #pragma region Parameter values definition
+                    /// <summary>
+                    /// The PCAN parameter is not set (inactive)
+                    /// </summary>
+                    static const int PCAN_PARAMETER_OFF = 0;
+                    /// <summary>
+                    /// The PCAN parameter is set (active)
+                    /// </summary>
+                    static const int PCAN_PARAMETER_ON = 1;
+                    /// <summary>
+                    /// The PCAN filter is closed. No messages will be received
+                    /// </summary>
+                    static const int PCAN_FILTER_CLOSE = 0;
+                    /// <summary>
+                    /// The PCAN filter is fully opened. All messages will be received
+                    /// </summary>
+                    static const int PCAN_FILTER_OPEN = 1;
+                    /// <summary>
+                    /// The PCAN filter is custom configured. Only registered 
+                    /// messages will be received
+                    /// </summary>
+                    static const int PCAN_FILTER_CUSTOM = 2;
+                    /// <summary>
+                    /// The PCAN-Channel handle is illegal, or its associated hardware is not available
+                    /// </summary>
+                    static const int PCAN_CHANNEL_UNAVAILABLE = 0;
+                    /// <summary>
+                    /// The PCAN-Channel handle is available to be connected (PnP Hardware: it means furthermore that the hardware is plugged-in)
+                    /// </summary>
+                    static const int PCAN_CHANNEL_AVAILABLE = 1;
+                    /// <summary>
+                    /// The PCAN-Channel handle is valid, and is already being used
+                    /// </summary>
+                    static const int PCAN_CHANNEL_OCCUPIED = 2;
+                    /// <summary>
+                    /// The PCAN-Channel handle is already being used by a PCAN-View application, but is available to connect
+                    /// </summary>
+                    static const int PCAN_CHANNEL_PCANVIEW = PCAN_CHANNEL_AVAILABLE | PCAN_CHANNEL_OCCUPIED;
+
+                    /// <summary>
+                    /// Logs system exceptions / errors
+                    /// </summary>
+                    static const int LOG_FUNCTION_DEFAULT = 0x00;
+                    /// <summary>
+                    /// Logs the entries to the PCAN-Basic API functions 
+                    /// </summary>
+                    static const int LOG_FUNCTION_ENTRY = 0x01;
+                    /// <summary>
+                    /// Logs the parameters passed to the PCAN-Basic API functions 
+                    /// </summary>
+                    static const int LOG_FUNCTION_PARAMETERS = 0x02;
+                    /// <summary>
+                    /// Logs the exits from the PCAN-Basic API functions 
+                    /// </summary>
+                    static const int LOG_FUNCTION_LEAVE = 0x04;
+                    /// <summary>
+                    /// Logs the CAN messages passed to the CAN_Write function
+                    /// </summary>
+                    static const int LOG_FUNCTION_WRITE = 0x08;
+                    /// <summary>
+                    /// Logs the CAN messages received within the CAN_Read function
+                    /// </summary>
+                    static const int LOG_FUNCTION_READ = 0x10;
+                    /// <summary>
+                    /// Logs all possible information within the PCAN-Basic API functions
+                    /// </summary>
+                    static const int LOG_FUNCTION_ALL = 0xFFFF;
+
+                    /// <summary>
+                    /// A single file is written until it size reaches PAN_TRACE_SIZE
+                    /// </summary>
+                    static const int TRACE_FILE_SINGLE = 0x00;
+                    /// <summary>
+                    /// Traced data is distributed in several files with size PAN_TRACE_SIZE
+                    /// </summary>
+                    static const int TRACE_FILE_SEGMENTED = 0x01;
+                    /// <summary>
+                    /// Includes the date into the name of the trace file
+                    /// </summary>
+                    static const int TRACE_FILE_DATE = 0x02;
+                    /// <summary>
+                    /// Includes the start time into the name of the trace file
+                    /// </summary>
+                    static const int TRACE_FILE_TIME = 0x04;
+                    /// <summary>
+                    /// Causes the overwriting of available traces (same name)
+                    /// </summary>
+                    static const int TRACE_FILE_OVERWRITE = 0x80;
+
+                    /// <summary>
+                    /// Device supports flexible data-rate (CAN-FD)
+                    /// </summary>
+                    static const int FEATURE_FD_CAPABLE = 0x01;
+                    /// <summary>
+                    /// Device supports a delay between sending frames (FPGA based USB devices)
+                    /// </summary>
+                    static const int FEATURE_DELAY_CAPABLE = 0x02;
+                    /// <summary>
+                    /// Device supports I/O functionality for electronic circuits (USB-Chip devices)
+                    /// </summary>
+                    static const int FEATURE_IO_CAPABLE = 0x04;
+
+                    /// The service is not running
+                    /// <summary>
+                    /// </summary>
+                    static const int SERVICE_STATUS_STOPPED = 0x01;
+                    /// <summary>
+                    /// The service is running
+                    /// </summary>
+                    static const int SERVICE_STATUS_RUNNING = 0x04;
+                    #pragma endregion
+
+                    #pragma region Lookup Parameters
+                    /// <summary>
+                    /// Lookup channel by Device type (see PCAN devices e.g. PCAN_USB)
+                    /// </summary>
+                    static const String^ LOOKUP_DEVICE_TYPE = "devicetype";
+                    /// <summary>
+                    /// Lookup channel by device id
+                    /// </summary>
+                    static const String^ LOOKUP_DEVICE_ID = "deviceid";
+                    /// <summary>
+                    /// Lookup channel by CAN controller 0-based index
+                    /// </summary>
+                    static const String^ LOOKUP_CONTROLLER_NUMBER = "controllernumber";
+                    /// <summary>
+                    /// Lookup channel by IP address (LAN channels only)
+                    /// </summary>
+                    static const String^ LOOKUP_IP_ADDRESS = "ipaddress";
+                    #pragma endregion
+
+                    #pragma region PCANBasic API Implementation
+                    /// <summary>
+                    /// Initializes a PCAN Channel 
+                    /// </summary>
+                    /// <param name="Channel">The handle of a PCAN Channel</param>
+                    /// <param name="Btr0Btr1">The speed for the communication (BTR0BTR1 code)</param>
+                    /// <param name="HwType">Non-PnP: The type of hardware and operation mode</param>
+                    /// <param name="IOPort">Non-PnP: The I/O address for the parallel port</param>
+                    /// <param name="Interrupt">Non-PnP: Interrupt number of the parallel por</param>
+                    /// <returns>A TPCANStatus error code</returns>
+                    [DllImport("PCANBasic.dll", EntryPoint = "CAN_Initialize")]
+                    static TPCANStatus Initialize(
+                        [MarshalAs(UnmanagedType::U2)]
+                        TPCANHandle Channel,
+                        [MarshalAs(UnmanagedType::U2)]
+                        TPCANBaudrate Btr0Btr1,
+                        [MarshalAs(UnmanagedType::U1)]
+                        TPCANType HwType, 
+                        UInt32 IOPort, 
+                        UInt16 Interrupt);
+
+                    /// <summary>
+                    /// Initializes a PCAN Channel
+                    /// </summary>
+                    /// <param name="Channel">The handle of a PCAN Channel</param>
+                    /// <param name="Btr0Btr1">The speed for the communication (BTR0BTR1 code)</param>
+                    /// <returns>A TPCANStatus error code</returns>
+                    static TPCANStatus Initialize(
+                        TPCANHandle Channel,
+                        TPCANBaudrate Btr0Btr1)
+                    {
+                        return Initialize(Channel, Btr0Btr1, (TPCANType)0, 0, 0);
+                    }
+
+                    /// <summary>
+                    /// Initializes a FD capable PCAN Channel 
+                    /// </summary>
+                    /// <param name="Channel">The handle of a FD capable PCAN Channel</param>
+                    /// <param name="BitrateFD">The speed for the communication (FD bit rate string)</param>
+                    /// <remarks> See PCAN_BR_* values
+                    /// Bit rate string must follow the following construction rules:
+                    /// * parameter and values must be separated by '='
+                    /// * Couples of Parameter/value must be separated by ','
+                    /// * Following Parameter must be filled out: f_clock, data_brp, data_sjw, data_tseg1, data_tseg2,
+                    ///   nom_brp, nom_sjw, nom_tseg1, nom_tseg2.
+                    /// * Following Parameters are optional (not used yet): data_ssp_offset, nom_sam</remarks>
+                    /// <example>f_clock=80000000,nom_brp=10,nom_tseg1=5,nom_tseg2=2,nom_sjw=1,data_brp=4,data_tseg1=7,data_tseg2=2,data_sjw=1</example>
+                    /// <returns>A TPCANStatus error code</returns>
+                    [DllImport("PCANBasic.dll", EntryPoint = "CAN_InitializeFD")]
+                    static TPCANStatus InitializeFD(
+                        [MarshalAs(UnmanagedType::U2)]
+                        TPCANHandle Channel,
+                        TPCANBitrateFD BitrateFD);
+
+                    /// <summary>
+                    /// Uninitializes one or all PCAN Channels initialized by CAN_Initialize
+                    /// </summary>
+                    /// <remarks>Giving the TPCANHandle value "PCAN_NONEBUS", 
+                    /// uninitialize all initialized channels</remarks>
+                    /// <param name="Channel">The handle of a PCAN Channel</param>
+                    /// <returns>A TPCANStatus error code</returns>
+                    [DllImport("PCANBasic.dll", EntryPoint = "CAN_Uninitialize")]
+                    static TPCANStatus Uninitialize(
+                        [MarshalAs(UnmanagedType::U2)]
+                        TPCANHandle Channel);
+
+                    /// <summary>
+                    /// Resets the receive and transmit queues of the PCAN Channel
+                    /// </summary>
+                    /// <remarks>A reset of the CAN controller is not performed</remarks>
+                    /// <param name="Channel">The handle of a PCAN Channel</param>
+                    /// <returns>A TPCANStatus error code</returns>
+                    [DllImport("PCANBasic.dll", EntryPoint = "CAN_Reset")]
+                    static TPCANStatus Reset(
+                        [MarshalAs(UnmanagedType::U2)]
+                        TPCANHandle Channel);
+
+                    /// <summary>
+                    /// Gets the current status of a PCAN Channel
+                    /// </summary>
+                    /// <param name="Channel">The handle of a PCAN Channel</param>
+                    /// <returns>A TPCANStatus error code</returns>
+                    [DllImport("PCANBasic.dll", EntryPoint = "CAN_GetStatus")]
+                    static TPCANStatus GetStatus(
+                        [MarshalAs(UnmanagedType::U2)]
+                        TPCANHandle Channel);
+
+                    /// <summary>
+                    /// Reads a CAN message from the receive queue of a PCAN Channel
+                    /// </summary>
+                    /// <param name="Channel">The handle of a PCAN Channel</param>
+                    /// <param name="MessageBuffer">A TPCANMsg structure buffer to store the CAN message</param>
+                    /// <param name="TimestampBuffer">A TPCANTimestamp structure buffer to get
+                    /// the reception time of the message</param>
+                    /// <returns>A TPCANStatus error code</returns>
+                    [DllImport("PCANBasic.dll", EntryPoint = "CAN_Read")]
+                    static TPCANStatus Read(
+                        [MarshalAs(UnmanagedType::U2)]
+                        TPCANHandle Channel,
+                        TPCANMsg %MessageBuffer,
+                        TPCANTimestamp %TimestampBuffer);
+
+                private: 
+                    [DllImport("PCANBasic.dll", EntryPoint = "CAN_Read")]
+                    static TPCANStatus Read(
+                        [MarshalAs(UnmanagedType::U2)]
+                        TPCANHandle Channel,
+                        TPCANMsg %MessageBuffer,
+                        IntPtr bufferPointer);
+
+                public: 
+                    /// <summary>
+                    /// Reads a CAN message from the receive queue of a PCAN Channel
+                    /// </summary>
+                    /// <param name="Channel">The handle of a PCAN Channel</param>
+                    /// <param name="MessageBuffer">A TPCANMsg structure buffer to store the CAN message</param>
+                    /// <returns>A TPCANStatus error code</returns>
+                    static TPCANStatus Read(
+                        TPCANHandle Channel,
+                        TPCANMsg %MessageBuffer)
+                    {
+                        return Read(Channel, MessageBuffer, IntPtr::Zero);
+                    }
+
+                    /// <summary>
+                    /// Reads a CAN message from the receive queue of a FD capable PCAN Channel 
+                    /// </summary>
+                    /// <param name="Channel">The handle of a FD capable PCAN Channel</param>
+                    /// <param name="MessageBuffer">A TPCANMsgFD structure buffer to store the CAN message</param>
+                    /// <param name="TimestampBuffer">A TPCANTimestampFD buffer to get the
+                    /// reception time of the message</param>
+                    /// <returns>A TPCANStatus error code</returns>
+                    [DllImport("PCANBasic.dll", EntryPoint = "CAN_ReadFD")]
+                    static TPCANStatus ReadFD(
+                        [MarshalAs(UnmanagedType::U2)]
+                        TPCANHandle Channel,
+                        TPCANMsgFD %MessageBuffer,
+                        TPCANTimestampFD %TimestampBuffer);
+
+                private:
+                    [DllImport("PCANBasic.dll", EntryPoint = "CAN_ReadFD")]
+                    static TPCANStatus ReadFD(
+                        [MarshalAs(UnmanagedType::U2)]
+                        TPCANHandle Channel,
+                        TPCANMsgFD %MessageBuffer,
+                        IntPtr bufferPointer);
+
+                public:
+                    /// <summary>
+                    /// Reads a CAN message from the receive queue of a FD capable PCAN Channel 
+                    /// </summary>
+                    /// <param name="Channel">The handle of a FD capable PCAN Channel</param>
+                    /// <param name="MessageBuffer">A TPCANMsgFD structure buffer to store the CAN message</param>
+                    /// <param name="TimestampBuffer">A TPCANTimestampFD buffer to get the
+                    /// reception time of the message</param>
+                    /// <returns>A TPCANStatus error code</returns>
+                    static TPCANStatus ReadFD(
+                        TPCANHandle Channel,
+                        TPCANMsgFD %MessageBuffer)
+                    {
+                        return ReadFD(Channel, MessageBuffer, IntPtr::Zero);
+                    }
+
+                    /// <summary>
+                    ///  Transmits a CAN message 
+                    /// </summary>
+                    /// <param name="Channel">The handle of a PCAN Channel</param>
+                    /// <param name="MessageBuffer">A TPCANMsg buffer with the message to be sent</param>
+                    /// <returns>A TPCANStatus error code</returns>
+                    [DllImport("PCANBasic.dll", EntryPoint = "CAN_Write")]
+                    static TPCANStatus Write(
+                        [MarshalAs(UnmanagedType::U2)]
+                        TPCANHandle Channel,
+                        TPCANMsg %MessageBuffer);
+
+                    /// <summary>
+                    /// Transmits a CAN message over a FD capable PCAN Channel
+                    /// </summary>
+                    /// <param name="Channel">The handle of a FD capable PCAN Channel</param>
+                    /// <param name="MessageBuffer">A TPCANMsgFD buffer with the message to be sent</param>
+                    /// <returns>A TPCANStatus error code</returns>
+                    [DllImport("PCANBasic.dll", EntryPoint = "CAN_WriteFD")]
+                    static TPCANStatus WriteFD(
+                        [MarshalAs(UnmanagedType::U2)]
+                        TPCANHandle Channel,
+                        TPCANMsgFD %MessageBuffer);
+
+                    /// <summary>
+                    /// Configures the reception filter
+                    /// </summary>
+                    /// <remarks>The message filter will be expanded with every call to 
+                    /// this function. If it is desired to reset the filter, please use
+                    /// the 'SetValue' function</remarks>
+                    /// <param name="Channel">The handle of a PCAN Channel</param>
+                    /// <param name="FromID">The lowest CAN ID to be received</param>
+                    /// <param name="ToID">The highest CAN ID to be received</param>
+                    /// <param name="Mode">Message type, Standard (11-bit identifier) or
+                    /// Extended (29-bit identifier)</param>
+                    /// <returns>A TPCANStatus error code</returns>
+                    [DllImport("PCANBasic.dll", EntryPoint = "CAN_FilterMessages")]
+                    static TPCANStatus FilterMessages(
+                        [MarshalAs(UnmanagedType::U2)]
+                        TPCANHandle Channel,
+                        UInt32 FromID,
+                        UInt32 ToID,
+                        [MarshalAs(UnmanagedType::U1)]
+                        TPCANMode Mode);
+
+                    /// <summary>
+                    /// Retrieves a PCAN Channel value
+                    /// </summary>
+                    /// <remarks>Parameters can be present or not according with the kind 
+                    /// of Hardware (PCAN Channel) being used. If a parameter is not available,
+                    /// a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+                    /// <param name="Channel">The handle of a PCAN Channel</param>
+                    /// <param name="Parameter">The TPCANParameter parameter to get</param>
+                    /// <param name="StringBuffer">Buffer for the parameter value</param>
+                    /// <param name="BufferLength">Size in bytes of the buffer</param>
+                    /// <returns>A TPCANStatus error code</returns>
+                    [DllImport("PCANBasic.dll", EntryPoint = "CAN_GetValue")]
+                    static TPCANStatus GetValue(
+                        [MarshalAs(UnmanagedType::U2)]
+                        TPCANHandle Channel,
+                        [MarshalAs(UnmanagedType::U1)]
+                        TPCANParameter Parameter,
+                        StringBuilder^ StringBuffer,            
+                        UInt32 BufferLength);
+
+                    /// <summary>
+                    /// Retrieves a PCAN Channel value
+                    /// </summary>
+                    /// <remarks>Parameters can be present or not according with the kind 
+                    /// of Hardware (PCAN Channel) being used. If a parameter is not available,
+                    /// a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+                    /// <param name="Channel">The handle of a PCAN Channel</param>
+                    /// <param name="Parameter">The TPCANParameter parameter to get</param>
+                    /// <param name="NumericBuffer">Buffer for the parameter value</param>
+                    /// <param name="BufferLength">Size in bytes of the buffer</param>
+                    /// <returns>A TPCANStatus error code</returns>
+                    [DllImport("PCANBasic.dll", EntryPoint = "CAN_GetValue")]
+                    static TPCANStatus GetValue(
+                        [MarshalAs(UnmanagedType::U2)]
+                        TPCANHandle Channel,
+                        [MarshalAs(UnmanagedType::U1)]
+                        TPCANParameter Parameter,
+                        UInt32 %NumericBuffer,
+                        UInt32 BufferLength);
+
+                    /// <summary>
+                    /// Retrieves a PCAN Channel value
+                    /// </summary>
+                    /// <remarks>Parameters can be present or not according with the kind 
+                    /// of Hardware (PCAN Channel) being used. If a parameter is not available,
+                    /// a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+                    /// <param name="Channel">The handle of a PCAN Channel</param>
+                    /// <param name="Parameter">The TPCANParameter parameter to get</param>
+                    /// <param name="NumericBuffer">Buffer for the parameter value</param>
+                    /// <param name="BufferLength">Size in bytes of the buffer</param>
+                    /// <returns>A TPCANStatus error code</returns>
+                    [DllImport("PCANBasic.dll", EntryPoint = "CAN_GetValue")]
+                    static TPCANStatus GetValue(
+                        [MarshalAs(UnmanagedType::U2)]
+                        TPCANHandle Channel,
+                        [MarshalAs(UnmanagedType::U1)]
+                        TPCANParameter Parameter,
+                        UInt64 %NumericBuffer,
+                        UInt32 BufferLength);
+
+                private:
+                    [DllImport("PCANBasic.dll", EntryPoint = "CAN_GetValue")]
+                    static TPCANStatus GetValue(
+                        [MarshalAs(UnmanagedType::U2)]
+                        TPCANHandle Channel,
+                        [MarshalAs(UnmanagedType::U1)]
+                        TPCANParameter Parameter,
+                        [MarshalAs(UnmanagedType::LPArray, SizeParamIndex=3)]
+                        [In, Out]array<TPCANChannelInformation> ^ChannelBuffer,
+                        UInt32 BufferLength);
+                public:
+                    /// <summary>
+                    /// Retrieves a PCAN Channel value
+                    /// </summary>
+                    /// <remarks>Parameters can be present or not according with the kind 
+                    /// of Hardware (PCAN Channel) being used. If a parameter is not available,
+                    /// a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+                    /// <param name="Channel">The handle of a PCAN Channel</param>
+                    /// <param name="Parameter">The TPCANParameter parameter to get</param>
+                    /// <param name="ChannelsBuffer">Buffer for the parameter value</param>
+                    /// <returns>A TPCANStatus error code</returns>
+                    static TPCANStatus GetValue(
+                        TPCANHandle Channel,
+                        TPCANParameter Parameter,
+                        array<TPCANChannelInformation> ^ChannelsBuffer)
+                    {
+                        if(ChannelsBuffer == nullptr)
+                            return TPCANStatus::PCAN_ERROR_ILLPARAMVAL;
+                        return GetValue(Channel, Parameter, ChannelsBuffer, ChannelsBuffer->Length * Marshal::SizeOf(TPCANChannelInformation::typeid));
+                    }
+
+                    /// <summary>
+                    /// Configures a PCAN Channel value 
+                    /// </summary>
+                    /// <remarks>Parameters can be present or not according with the kind 
+                    /// of Hardware (PCAN Channel) being used. If a parameter is not available,
+                    /// a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+                    /// <param name="Channel">The handle of a PCAN Channel</param>
+                    /// <param name="Parameter">The TPCANParameter parameter to set</param>
+                    /// <param name="NumericBuffer">Buffer with the value to be set</param>
+                    /// <param name="BufferLength">Size in bytes of the buffer</param>
+                    /// <returns>A TPCANStatus error code</returns>
+                    [DllImport("PCANBasic.dll", EntryPoint = "CAN_SetValue")]
+                    static TPCANStatus SetValue(
+                        [MarshalAs(UnmanagedType::U2)]
+                        TPCANHandle Channel,
+                        [MarshalAs(UnmanagedType::U1)]
+                        TPCANParameter Parameter,
+                        UInt32% NumericBuffer,
+                        UInt32 BufferLength);
+
+                    /// <summary>
+                    /// Configures a PCAN Channel value 
+                    /// </summary>
+                    /// <remarks>Parameters can be present or not according with the kind 
+                    /// of Hardware (PCAN Channel) being used. If a parameter is not available,
+                    /// a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+                    /// <param name="Channel">The handle of a PCAN Channel</param>
+                    /// <param name="Parameter">The TPCANParameter parameter to set</param>
+                    /// <param name="NumericBuffer">Buffer with the value to be set</param>
+                    /// <param name="BufferLength">Size in bytes of the buffer</param>
+                    /// <returns>A TPCANStatus error code</returns>
+                    [DllImport("PCANBasic.dll", EntryPoint = "CAN_SetValue")]
+                    static TPCANStatus SetValue(
+                        [MarshalAs(UnmanagedType::U2)]
+                        TPCANHandle Channel,
+                        [MarshalAs(UnmanagedType::U1)]
+                        TPCANParameter Parameter,
+                        UInt64% NumericBuffer,
+                        UInt32 BufferLength);
+
+                    /// <summary>
+                    /// Configures a PCAN Channel value
+                    /// </summary>
+                    /// <remarks>Parameters can be present or not according with the kind 
+                    /// of Hardware (PCAN Channel) being used. If a parameter is not available,
+                    /// a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+                    /// <param name="Channel">The handle of a PCAN Channel</param>
+                    /// <param name="Parameter"></param>
+                    /// <param name="StringBuffer">Buffer with the value to be set</param>
+                    /// <param name="BufferLength">Size in bytes of the buffer</param>
+                    /// <returns>A TPCANStatus error code</returns>
+                    [DllImport("PCANBasic.dll", EntryPoint = "CAN_SetValue")]
+                    static TPCANStatus SetValue(
+                        [MarshalAs(UnmanagedType::U2)]
+                        TPCANHandle Channel,
+                        [MarshalAs(UnmanagedType::U1)]
+                        TPCANParameter Parameter,
+                        [MarshalAs(UnmanagedType::LPStr,SizeParamIndex=3)]
+                        String^ StringBuffer,
+                        UInt32 BufferLength);
+
+                    /// <summary>
+                    /// Returns a descriptive text of a given TPCANStatus error 
+                    /// code, in any desired language
+                    /// </summary>
+                    /// <remarks>The current languages available for translation are: 
+                    /// Neutral (0x00), German (0x07), English (0x09), Spanish (0x0A),
+                    /// Italian (0x10) and French (0x0C)</remarks>
+                    /// <param name="Error">A TPCANStatus error code</param>
+                    /// <param name="Language">Indicates a 'Primary language ID'</param>
+                    /// <param name="StringBuffer">Buffer for the text (must be at least 256 in length)</param>
+                    /// <returns>A TPCANStatus error code</returns>
+                    [DllImport("PCANBasic.dll", EntryPoint = "CAN_GetErrorText")]
+                    static TPCANStatus GetErrorText(
+                        [MarshalAs(UnmanagedType::U4)]
+                        TPCANStatus Error,
+                        UInt16 Language,
+                        StringBuilder^ StringBuffer);
+
+                    /// <summary>
+                    /// Finds a PCAN-Basic channel that matches with the given parameters
+                    /// </summary>
+                    /// <param name="Parameters">A comma separated string contained pairs of 
+                    /// parameter-name/value to be matched within a PCAN-Basic channel</param>
+                    /// <param name="FoundChannel">Buffer for returning the PCAN-Basic channel, 
+                    /// when found</param>
+                    /// <returns>A TPCANStatus error code</returns>
+                    [DllImport("PCANBasic.dll", EntryPoint = "CAN_LookUpChannel")]
+                    static TPCANStatus LookUpChannel(
+                        String^ Parameters,
+                        TPCANHandle% FoundChannel);
+                    #pragma endregion
+            };
+            #pragma endregion
+        }
+    }
+}
\ No newline at end of file

third_party/Robotic_Arm/include/rm_define.h

+#ifndef RM_DEFINE_H
+#define RM_DEFINE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdarg.h>
+
+#define ARM_DOF                     7
+#define M_PI		                3.14159265358979323846
+
+#define RM_MOVE_NBLOCK  0                                          ///<机械臂运动设置，非阻塞模式
+#define RM_MOVE_MULTI_BLOCK  1                                 ///<机械臂运动设置，多线程阻塞模式
+static inline int RM_MOVE_SINGLE_BLOCK(int timeout){return timeout;}    ///<机械臂运动设置，单线程阻塞模式超时时间
+
+/**
+ * @brief 线程模式
+ * @ingroup Init_Class
+ */
+typedef enum {
+    RM_SINGLE_MODE_E,       ///< 单线程模式，单线程非阻塞等待数据返回
+    RM_DUAL_MODE_E,         ///< 双线程模式，增加接收线程监测队列中的数据
+    RM_TRIPLE_MODE_E,       ///< 三线程模式，在双线程模式基础上增加线程监测UDP接口数据
+}rm_thread_mode_e;
+
+/**
+ * @brief 机械臂型号
+ * @ingroup Algo
+ */
+typedef enum{
+    RM_MODEL_RM_65_E,       ///< RM_65
+    RM_MODEL_RM_75_E,       ///< RM_75
+    RM_MODEL_RM_63_I_E,     ///< RML_63I(已弃用)
+    RM_MODEL_RM_63_II_E,        ///< RML_63II
+    RM_MODEL_RM_63_III_E,       ///< RML_63III
+    RM_MODEL_ECO_65_E,      ///< ECO_65
+    RM_MODEL_ECO_62_E,      ///< ECO_62
+    RM_MODEL_GEN_72_E,       ///< GEN_72
+    RM_MODEL_ECO_63_E,       ///< ECO63
+    RM_MODEL_UNIVERSAL_E
+}rm_robot_arm_model_e;
+
+/**
+ * @brief 机械臂末端力传感器版本
+ * @ingroup Algo
+ */
+typedef enum{
+    RM_MODEL_RM_B_E,    ///< 标准版
+    RM_MODEL_RM_ZF_E,   ///< 一维力版
+    RM_MODEL_RM_SF_E,   ///< 六维力版
+    RM_MODEL_RM_ISF_E,   ///< 一体化六维力版
+}rm_force_type_e;
+
+/**
+ * @brief 事件类型
+ * @ingroup Init_Class
+ */
+typedef enum 
+{
+    RM_NONE_EVENT_E,                    ///< 无事件
+    RM_CURRENT_TRAJECTORY_STATE_E,      ///< 当前轨迹到位
+    RM_PROGRAM_RUN_FINISH_E,            ///< 在线编程运行结束
+} rm_event_type_e;
+
+/**
+ * @brief 事件信息
+ * @ingroup Init_Class
+ */
+typedef struct 
+{
+    int handle_id;       ///< 返回消息的机械臂id
+    rm_event_type_e event_type;     ///< 事件类型，包含无事件、当前轨迹到位、在线编程运行结束
+    bool trajectory_state;      ///< 当前轨迹到位状态
+    int device;     ///< 到位设备，0：关节 1：夹爪 2：灵巧手 3：升降机构 4：扩展关节 其他：保留
+    int trajectory_connect;     ///< 是否连接下一条轨迹，0：全部到位，1：连接下一条轨迹
+    int program_id;     ///< 运行结束的在线编程程序id
+}rm_event_push_data_t;
+
+/**
+ * @brief 机械臂当前规划类型
+ * 
+ */
+typedef enum 
+{
+    RM_NO_PLANNING_E,                   ///< 无规划
+    RM_JOINT_SPACE_PLANNING_E,          ///< 关节空间规划
+    RM_CARTESIAN_LINEAR_PLANNING_E,     ///< 笛卡尔空间直线规划
+    RM_CARTESIAN_ARC_PLANNING_E,        ///< 笛卡尔空间圆弧规划
+    RM_SPLINE_CURVE_MOTION_PLANNING_E,  ///< 样条曲线运动规划
+    RM_TRAJECTORY_REPLAY_PLANNING_E,    ///< 示教轨迹复现规划
+}rm_arm_current_trajectory_e;
+
+typedef struct
+{
+    int joint_speed;   ///< 关节速度。
+    int lift_state;    ///< 升降关节信息。1：上报；0：关闭上报；-1：不设置，保持之前的状态
+    int expand_state;  ///< 扩展关节信息（升降关节和扩展关节为二选一，优先显示升降关节）1：上报；0：关闭上报；-1：不设置，保持之前的状态
+    int hand_state;          ///< 灵巧手状态。1：上报；0：关闭上报；-1：不设置，保持之前的状态(1.7.0版本无这个)
+    int arm_current_status;     ///< 机械臂当前状态。1：上报；0：关闭上报；-1：不设置，保持之前的状态
+    int aloha_state;     ///< aloha主臂状态是否上报。1：上报；0：关闭上报；-1：不设置，保持之前的状态
+    int plus_base;   ///< 末端设备基础信息。1：上报；0：关闭上报；-1：不设置，保持之前的状态
+    int plus_state;  ///< 末端设备实时信息。1：上报；0：关闭上报；-1：不设置，保持之前的状态
+}rm_udp_custom_config_t;
+
+/**
+ * @brief 机械臂主动上报接口配置
+ * @ingroup UdpConfig
+ */
+typedef struct {
+    int cycle;      ///< 广播周期，5ms的倍数
+    bool enable;     ///< 使能，是否主动上报
+    int port;       ///< 广播的端口号
+    int force_coordinate;       ///< 系统外受力数据的坐标系，-1不支持力传感器 0为传感器坐标系 1为当前工作坐标系 2为当前工具坐标系
+    char ip[28];       ///< 自定义的上报目标IP地址
+    rm_udp_custom_config_t custom_config;     ///< 自定义项内容
+} rm_realtime_push_config_t;
+
+/**
+ * @brief 四元数
+ * 
+ */
+typedef struct
+{
+	float w;
+	float x;
+	float y;
+	float z;
+} rm_quat_t;
+
+/**
+ * @brief 位置坐标
+ * 
+ */
+typedef struct
+{
+	float x; //* unit: m
+	float y;
+	float z;
+} rm_position_t;
+
+/**
+ * @brief 欧拉角
+ * 
+ */
+typedef struct
+{
+	float rx; //* unit: rad
+	float ry;
+	float rz;
+} rm_euler_t;
+
+/**
+ * @brief 机械臂位置姿态结构体
+ * @ingroup Algo
+ */
+typedef struct 
+{
+    rm_position_t position;     ///< 位置，单位：m
+    rm_quat_t quaternion;       ///< 四元数
+    rm_euler_t euler;           ///< 欧拉角，单位：rad
+}rm_pose_t;
+
+/**
+ * @brief 坐标系名称
+ * 不超过10个字符
+ * @ingroup ToolCoordinateConfig
+ * @ingroup WorkCoordinateConfig
+ */
+typedef struct 
+{
+    char name[12];
+}rm_frame_name_t;
+
+
+/**
+ * @brief 坐标系
+ * @ingroup Algo
+ * @ingroup ToolCoordinateConfig
+ * @ingroup WorkCoordinateConfig
+ */
+typedef struct 
+{
+    char frame_name[12];    ///< 坐标系名称
+    rm_pose_t pose;         ///< 坐标系位姿
+    float payload;      ///< 坐标系末端负载重量，单位：kg
+    float x;    ///< 坐标系末端负载质心位置，单位：m
+    float y;    ///< 坐标系末端负载质心位置，单位：m
+    float z;    ///< 坐标系末端负载质心位置，单位：m
+}rm_frame_t;
+
+typedef struct{
+    char build_time[20];    ///< 编译时间
+    char version[20];       ///< 版本号
+}rm_ctrl_version_t;
+
+typedef struct{
+    char model_version[5];      ///< 动力学模型版本号
+}rm_dynamic_version_t;
+
+typedef struct{
+    char build_time[20];    ///<编译时间
+    char version[20];       ///< 版本号
+}rm_planinfo_t;
+
+typedef struct {
+    char version[20];   ///< 算法库版本号
+}rm_algorithm_version_t;
+
+typedef struct {
+    char build_time[20];    ///<编译时间
+    char version[20];       ///< 版本号
+}rm_software_build_info_t;
+/**
+ * @brief  机械臂软件信息
+ * 
+ */
+typedef struct
+{
+    char product_version[20];           ///< 机械臂型号
+    char robot_controller_version[10];  ///< 机械臂控制器版本，若为四代控制器，则该字段为"4.0"
+    rm_algorithm_version_t algorithm_info;      ///< 算法库信息
+    rm_software_build_info_t ctrl_info;        ///< ctrl 层软件信息
+    rm_dynamic_version_t dynamic_info;      ///< 动力学版本（三代）
+    rm_software_build_info_t plan_info;        ///< plan 层软件信息（三代）
+    rm_software_build_info_t com_info;        ///< communication 模块软件信息（四代）
+    rm_software_build_info_t program_info;        ///< 流程图编程模块软件信息（四代）
+}rm_arm_software_version_t;
+
+/**
+ * @brief  错误代码结构体
+ * 
+*/
+typedef struct 
+{
+    uint8_t err_len;   ///< 错误代码个数
+    int err[24];       ///< 错误代码数组
+}rm_err_t;
+
+/**
+ * @brief  机械臂当前状态
+ * 
+*/
+typedef struct 
+{
+    rm_pose_t pose;         ///< 机械臂当前位姿
+    float joint[ARM_DOF];   ///< 机械臂当前关节角度
+    rm_err_t err;
+}rm_current_arm_state_t;
+
+/**
+ * @brief  机械臂关节状态参数
+ * 
+*/
+typedef struct
+{
+    float joint_current[ARM_DOF];               ///< 关节电流，单位mA，精度：0.001mA
+    bool joint_en_flag[ARM_DOF];                ///< 当前关节使能状态 ，1为上使能，0为掉使能
+    uint16_t joint_err_code[ARM_DOF];           ///< 当前关节错误码
+    float joint_position[ARM_DOF];              ///< 关节角度，单位°，精度：0.001°
+    float joint_temperature[ARM_DOF];           ///< 当前关节温度，精度0.001℃
+    float joint_voltage[ARM_DOF];               ///< 当前关节电压，精度0.001V
+    float joint_speed[ARM_DOF];                 ///< 当前关节速度，精度0.01RPM。
+}rm_joint_status_t;
+
+/**
+ * @brief 位置示教方向
+ * 
+ */
+typedef enum
+{
+    RM_X_DIR_E,        ///< 位置示教，x轴方向
+    RM_Y_DIR_E,        ///< 位置示教，y轴方向
+    RM_Z_DIR_E,        ///< 位置示教，z轴方向
+}rm_pos_teach_type_e;
+
+/**
+ * @brief 姿态示教方向
+ * 
+ */
+typedef enum
+{
+    RM_RX_ROTATE_E,        ///< 姿态示教，绕x轴旋转
+    RM_RY_ROTATE_E,        ///< 姿态示教，绕y轴旋转
+    RM_RZ_ROTATE_E,        ///< 姿态示教，绕z轴旋转
+}rm_ort_teach_type_e;
+
+/**
+ * @brief 数字IO配置结构体
+ *      io_mode:模式，0-通用输入模式、1-通用输出模式、2-输入开始功能复用模式、3-输入暂停功能复用模式、
+ *                   4-输入继续功能复用模式、5-输入急停功能复用模式、6-输入进入电流环拖动复用模式
+ *                   7-输入进入力只动位置拖动模式（六维力版本可配置）、8-输入进入力只动姿态拖动模式（六维力版本可配置）
+ *                   9-输入进入力位姿结合拖动复用模式（六维力版本可配置）、10-输入外部轴最大软限位复用模式（外部轴模式可配置）
+ *                   11-输入外部轴最小软限位复用模式（外部轴模式可配置）、12-输入初始位姿功能复用模式
+ *                   13-输出碰撞功能复用模式、14-实时调速功能复用模式
+ *      io_state:数字io状态（0低 1高）（该成员在set时无效）
+ *      io_real_time_config_t:实时调速功能，io配置
+ *          speed:速度取值范围0-100     (当io_mode不为14时，默认值为-1)
+ *          mode :模式取值范围1或2      (当io_mode不为14时，默认值为-1)
+ *                  1表示单次触发模式，单次触发模式下当IO拉低速度设置为speed参数值，IO恢复高电平速度设置为初始值
+ *                  2表示连续触发模式，连续触发模式下IO拉低速度设置为speed参数值，IO恢复高电平速度维持当前值
+ */
+typedef struct
+{
+    int io_mode;    // io_mode:模式0~14
+    struct
+    {
+        int speed;  // speed:速度取值范围0-100
+        int mode;   // mode :模式取值范围1或2
+    }io_real_time_config_t;
+}rm_io_config_t;
+
+/**
+ * @brief 数字IO状态获取结构体
+ *      io_state:数字io状态（0低 1高）（该成员在set时无效）
+ *      io_config:io配置结构体
+ */
+typedef struct
+{
+    int io_state;               // io_state:数字io状态（0低 1高）
+    rm_io_config_t io_config;   // io_config:数字io配置结构体
+}rm_io_get_t;
+
+/**
+ * @brief 复合模式拖动示教参数
+ * 
+ */
+typedef struct{
+    int free_axes[6];       ///< 自由驱动方向[x,y,z,rx,ry,rz]，0-在参考坐标系对应方向轴上不可拖动，1-在参考坐标系对应方向轴上可拖动
+    int frame;              ///< 参考坐标系，0-工作坐标系 1-工具坐标系。
+    int singular_wall;      ///< 仅在六维力模式拖动示教中生效，用于指定是否开启拖动奇异墙，0表示关闭拖动奇异墙，1表示开启拖动奇异墙，若无配置参数，默认启动拖动奇异墙
+}rm_multi_drag_teach_t;
+
+/**
+ * @brief 力位混合控制传感器枚举
+ * 
+ */
+typedef enum{
+    RM_FP_OF_SENSOR_E = 0,     ///<一维力
+    RM_FP_SF_SENSOR_E,         ///<六维力
+}rm_force_position_sensor_e;
+
+/**
+ * @brief 力位混合控制模式枚举
+ * 
+ */
+typedef enum{
+    RM_FP_BASE_COORDINATE_E = 0,   ///<基坐标系力控
+    RM_FP_TOOL_COORDINATE_E,       ///<工具坐标系力控
+}rm_force_position_mode_e;
+
+/**
+ * @brief 力位混合控制模式（单方向）力控方向枚举
+ * 
+ */
+typedef enum{
+    RM_FP_X_E = 0,      ///<沿X轴
+    RM_FP_Y_E,          ///<沿Y轴
+    RM_FP_Z_E,          ///<沿Z轴
+    RM_FP_RX_E,         ///<沿RX姿态方向
+    RM_FP_RY_E,         ///<沿RY姿态方向
+    RM_FP_RZ_E,         ///<沿RZ姿态方向
+}rm_force_position_dir_e;
+
+/**
+ * @brief 力位混合控制参数
+ * 
+ */
+typedef struct 
+{
+    int sensor;            ///< 传感器，0-一维力；1-六维力
+    int mode;              ///< 0-基坐标系力控；1-工具坐标系力控；
+    int control_mode[6];       ///<  6个力控方向（Fx Fy Fz Mx My Mz）的模式 0-固定模式 1-浮动模式 2-弹簧模式 3-运动模 4-力跟踪模式 8-力跟踪+姿态自适应模式
+    float desired_force[6];     ///< 力控轴维持的期望力/力矩，力控轴的力控模式为力跟踪模式时，期望力/力矩设置才会生效 ，精度0.1N。
+    float limit_vel[6];     ///< 力控轴的最大线速度和最大角速度限制，只对开启力控方向生效。
+}rm_force_position_t;
+
+/**
+ * @brief 透传力位混合补偿参数
+ * 建议初始化方式，避免一些未知错误
+ * rm_force_position_move_t my_fp_move = (rm_force_position_move_t){ 0 };
+ */
+typedef struct 
+{
+    int flag;                   ///< 0-下发目标角度，1-下发目标位姿
+    rm_pose_t pose;             ///< 当前坐标系下的目标位姿，支持四元数/欧拉角表示姿态。位置精度：0.001mm，欧拉角表示姿态，姿态精度：0.001rad，四元数方式表示姿态，姿态精度：0.000001
+    float joint[ARM_DOF];       ///< 目标关节角度，单位：°，精度：0.001°
+    int sensor;                 ///< 传感器，0-一维力；1-六维力
+    int mode;                   ///< 0-基坐标系力控；1-工具坐标系力控；
+    bool follow;                ///< 表示驱动器的运动跟随效果，true 为高跟随，false 为低跟随。
+    int control_mode[6];        ///< 6个力控方向的模式 0-固定模式 1-浮动模式 2-弹簧模式 3-运动模式 4-力跟踪模式 5-浮动+运动模式 6-弹簧+运动模式 7-力跟踪+运动模式 8-姿态自适应模式
+    float desired_force[6];     ///< 力控轴维持的期望力/力矩，力控轴的力控模式为力跟踪模式时，期望力/力矩设置才会生效 ，精度0.1N。
+    float limit_vel[6];         ///< 力控轴的最大线速度和最大角速度限制，只对开启力控方向生效。
+    int trajectory_mode;        ///< 高跟随模式下，0-完全透传模式、1-曲线拟合模式、2-滤波模式
+    int radio;                  ///< 曲线拟合模式0-100和滤波模式下的平滑系数（数值越大效果越好），滤波模式下取值范围0~1000，曲线拟合模式下取值范围0~100
+}rm_force_position_move_t;
+
+/**
+ * @brief 角度透传模式结构体
+ * 建议初始化方式，避免一些未知错误
+ * rm_movej_canfd_mode_t my_j_canfd = (rm_movej_canfd_mode_t){ 0 };
+ */
+typedef struct
+{
+    float* joint;           // 关节角度（若为六轴机械臂，那么最后一个元素无效），单位°
+    float expand;           // 扩展关节角度（若没有扩展关节，那么此成员值无效）
+    bool follow;            // 跟随模式，0-低跟随，1-高跟随,若使用高跟随，透传周期要求不超过 10ms
+    int trajectory_mode;    // 高跟随模式下，0-完全透传模式、1-曲线拟合模式、2-滤波模式
+    int radio;              // 曲线拟合模式和滤波模式下的平滑系数（数值越大效果越好），滤波模式下取值范围0~1000，曲线拟合模式下取值范围0~100
+}rm_movej_canfd_mode_t;
+
+/**
+ * @brief 姿态透传模式结构体
+ * 建议初始化方式，避免一些未知错误
+ * rm_movep_canfd_mode_t my_p_canfd = (rm_movep_canfd_mode_t){ 0 };
+ */
+typedef struct
+{
+    rm_pose_t pose;         // 位姿 (优先采用四元数表达)
+    bool follow;            // 跟随模式，0-低跟随，1-高跟随,若使用高跟随，透传周期要求不超过 10ms
+    int trajectory_mode;    // 高跟随模式下，0-完全透传模式、1-曲线拟合模式、2-滤波模式
+    int radio;              // 曲线拟合模式和滤波模式下的平滑系数（数值越大效果越好），滤波模式下取值范围0~1000，曲线拟合模式下取值范围0~100
+}rm_movep_canfd_mode_t;
+
+/**
+ * @brief 无线网络信息结构体
+ * 
+ */
+typedef struct{
+    int channel;               ///< 如果是 AP 模式，则存在此字段，标识 wifi 热点的物理信道号
+    char ip[16];               ///< IP 地址
+    char mac[18];              ///< MAC 地址
+    char mask[16];             ///< 子网掩码
+    char mode[5];              ///< ap 代表热点模式，sta 代表联网模式，off 代表未开启无线模式
+    char password[16];         ///< 密码
+    char ssid[32];             ///< 网络名称 (SSID)
+}rm_wifi_net_t;
+
+/**
+ * @brief  机械臂所有状态参数
+ * 
+*/
+typedef struct
+{
+    float joint_current[ARM_DOF];           ///< 关节电流，单位mA
+    int joint_en_flag[ARM_DOF];             ///< 关节使能状态
+    float joint_temperature[ARM_DOF];       ///< 关节温度,单位℃
+    float joint_voltage[ARM_DOF];           ///< 关节电压，单位V
+    int joint_err_code[ARM_DOF];            ///< 关节错误码
+    rm_err_t err;                           ///< 错误代码
+}rm_arm_all_state_t;
+
+/**
+ * @brief 夹爪状态
+ * 
+ */
+typedef struct
+{
+    int enable_state;      ///< 夹爪使能标志，0 表示未使能，1 表示使能
+    int status;            ///< 夹爪在线状态，0 表示离线， 1表示在线
+    int error;              ///< 夹爪错误信息，低8位表示夹爪内部的错误信息bit5-7 保留bit4 内部通bit3 驱动器bit2 过流 bit1 过温bit0 堵转
+    int mode;               ///< 当前工作状态：1 夹爪张开到最大且空闲，2 夹爪闭合到最小且空闲，3 夹爪停止且空闲，4 夹爪正在闭合，5 夹爪正在张开，6 夹爪闭合过程中遇到力控停止
+    int current_force;      ///< 夹爪当前的压力，单位g
+    int temperature;        ///< 当前温度，单位℃
+    int actpos;             ///< 夹爪开口度
+}rm_gripper_state_t;
+
+/**
+ * @brief  六维力传感器数据结构体
+ * 
+*/
+typedef struct {
+    float force_data[6];         ///< 当前力传感器原始数据，力的单位为N；力矩单位为Nm。
+    float zero_force_data[6];        ///< 当前力传感器系统外受力数据，力的单位为N；力矩单位为Nm。
+    float work_zero_force_data[6];     ///< 当前工作坐标系下系统外受力原始数据，力的单位为N；力矩单位为Nm。
+    float tool_zero_force_data[6];     ///< 当前工具坐标系下系统外受力原始数据，力的单位为N；力矩单位为Nm。
+} rm_force_data_t;
+
+/**
+ * @brief  一维力传感器数据结构体
+ * 
+*/
+typedef struct {
+    float Fz;         ///< 原始数据
+    float zero_Fz;        ///< 传感器坐标系下系统外受力数据，力的单位为N；力矩单位为Nm。
+    float work_zero_Fz;     ///< 当前工作坐标系下系统外受力原始数据，力的单位为N；力矩单位为Nm。
+    float tool_zero_Fz;     ///< 当前工具坐标系下系统外受力原始数据，力的单位为N；力矩单位为Nm。
+} rm_fz_data_t;
+
+/**
+ * @brief  外设数据读写参数结构体
+ * 
+*/
+typedef struct {
+    int port;       ///< 通讯端口，0-控制器RS485端口，1-末端接口板RS485接口，3-控制器ModbusTCP设备
+    int address;    ///< 数据起始地址
+    int device;     ///< 外设设备地址
+    int num;        ///< 要读的数据的数量
+} rm_peripheral_read_write_params_t;
+
+/**
+ * @brief  升降机构、扩展关节状态结构体
+ * 
+*/
+typedef struct {
+    int pos;        ///< 扩展关节角度，单位度，精度 0.001°(若为升降机构高度，则单位：mm，精度：1mm，范围：0 ~2300)
+    int current;        ///< 驱动电流，单位：mA，精度：1mA
+    int err_flag;       ///< 驱动错误代码，错误代码类型参考关节错误代码
+    int mode;       ///< 当前状态，0-空闲，1-正方向速度运动，2-正方向位置运动，3-负方向速度运动，4-负方向位置运动
+} rm_expand_state_t;
+
+/**
+ * @brief 文件下发
+ * @ingroup OnlineProgramming
+ */
+typedef struct {
+    char project_path[300];      ///< 下发文件路径文件名
+    int project_path_len;   ///< 名称长度
+    int plan_speed;     ///< 规划速度比例系数
+    int only_save;      ///< 0-保存并运行文件，1-仅保存文件，不运行
+    int save_id;        ///< 保存到控制器中的编号
+    int step_flag;      ///< 设置单步运行方式模式，1-设置单步模式 0-设置正常运动模式
+    int auto_start;     ///< 设置默认在线编程文件，1-设置默认  0-设置非默认
+    int project_type;   ///< 下发文件类型。0-在线编程文件，1-拖动示教轨迹文件
+    // int err_line;       ///< 若运行失败，该参数返回有问题的工程行数，err_line 为 0，则代表校验数据长度不对
+} rm_send_project_t;
+
+/**
+ * @brief 在线编程存储信息
+ * @ingroup OnlineProgramming
+ */
+typedef struct  {
+    int id;     ///< 在线编程文件id
+    int size;   ///< 文件大小
+    int speed;  ///< 默认运行速度
+    char trajectory_name[32];   ///< 文件名称
+}rm_trajectory_data_t;
+/**
+ * @brief 查询在线编程列表
+ * @ingroup OnlineProgramming
+ */
+typedef struct
+{
+    int page_num;       // 页码
+    int page_size;       // 每页大小
+    int list_size;   //返回总数量
+    char vague_search[32];  // 模糊搜索
+    rm_trajectory_data_t trajectory_list[100];   // 符合的在线编程列表
+}rm_program_trajectorys_t;
+
+/**
+ * @brief 在线编程运行状态
+ * @ingroup OnlineProgramming
+ */
+typedef struct
+{
+    int run_state;  ///< 运行状态 0 未开始 1运行中 2暂停中
+    int id;         ///< 运行轨迹编号
+    int edit_id;    ///< 上次编辑的在线编程编号 id
+    int plan_num;   ///< 运行行数
+    int total_loop;     ///< 循环指令数量
+    int step_mode;      ///< 单步模式，1 为单步模式，0 为非单步模式
+    int plan_speed;     ///< 全局规划速度比例 1-100
+    int loop_num[100];        ///< 循环行数
+    int loop_cont[100];       ///< 对应循环次数
+}rm_program_run_state_t;
+
+/**
+ * @brief 流程图程序运行状态
+ */
+typedef struct
+{
+    int run_state;  ///< 运行状态 0 未开始 1运行中 2暂停中
+    int id;         ///< 当前使能的文件id。
+    char name[32];  ///< 当前使能的文件名称。
+    int plan_speed;     ///< 当前使能的文件全局规划速度比例 1-100。
+    int step_mode;    ///< 单步模式，0为空，1为正常, 2为单步。
+    char modal_id[50];   ///< 运行到的流程图块的id。未运行则不返回
+}rm_flowchart_run_state_t;
+
+/**
+ * @brief 全局路点存储信息
+ * @ingroup OnlineProgramming
+ */
+typedef struct
+{
+    char point_name[20];    ///< 路点名称
+    float joint[ARM_DOF];   ///< 关节角度
+    rm_pose_t pose;     ///< 位姿信息
+    char work_frame[12];    ///< 工作坐标系名称
+    char tool_frame[12];    ///< 工具坐标系名称
+    char time[50];      ///<  路点新增或修改时间
+}rm_waypoint_t;
+/**
+ * @brief 全局路点列表
+ * @ingroup OnlineProgramming
+ */
+typedef struct{
+    int page_num;       ///< 页码
+    int page_size;      ///< 每页大小
+    int total_size;     ///< 列表长度
+    char vague_search[32];  ///< 模糊搜索 
+    int list_len;       ///<返回符合的全局路点列表长度
+    rm_waypoint_t points_list[100];   ///< 返回符合的全局路点列表
+}rm_waypoint_list_t;
+
+/**
+ * @brief 几何模型长方体参数
+ * @ingroup Electronic_Fence
+ */
+typedef struct{
+    float x_min_limit;      ///< 长方体基于世界坐标系 X 方向最小位置，单位 m
+    float x_max_limit;      ///< 长方体基于世界坐标系 X 方向最大位置，单位 m
+    float y_min_limit;      ///< 长方体基于世界坐标系 Y 方向最小位置，单位 m
+    float y_max_limit;      ///< 长方体基于世界坐标系 Y 方向最大位置，单位 m
+    float z_min_limit;      ///< 长方体基于世界坐标系 Z 方向最小位置，单位 m
+    float z_max_limit;      ///< 长方体基于世界坐标系 Z 方向最大位置，单位 m
+}rm_fence_config_cube_t;
+/**
+ * @brief 几何模型点面矢量平面参数
+ * @ingroup Electronic_Fence
+ */
+typedef struct{
+    float x1, y1, z1;       ///< 点面矢量平面三点法中的第一个点坐标，单位 m
+    float x2, y2, z2;       ///< 点面矢量平面三点法中的第二个点坐标，单位 m
+    float x3, y3, z3;       ///< 点面矢量平面三点法中的第三个点坐标，单位 m
+}rm_fence_config_plane_t;
+/**
+ * @brief 几何模型球体参数
+ * @ingroup Electronic_Fence
+ */
+typedef struct{
+    float x;        ///< 表示球心在世界坐标系 X 轴的坐标，单位 m
+    float y;        ///< 表示球心在世界坐标系 Y 轴的坐标，单位 m
+    float z;        ///< 表示球心在世界坐标系 Z 轴的坐标，单位 m
+    float radius;       ///< 表示半径，单位 m
+}rm_fence_config_sphere_t;
+/**
+ * @brief 几何模型参数
+ * @ingroup Electronic_Fence
+ */
+typedef struct{
+    int form;       ///< 形状，1 表示长方体，2 表示点面矢量平面，3 表示球体
+    char name[12];  ///< 电子围栏名称，不超过 10 个字节，支持字母、数字、下划线
+    rm_fence_config_cube_t cube;    ///< 长方体参数
+    rm_fence_config_plane_t plan;    ///< 点面矢量平面参数
+    rm_fence_config_sphere_t sphere;    ///< 球体参数
+}rm_fence_config_t;
+
+/**
+ * @brief 几何模型名称结构体
+ * @ingroup Electronic_Fence
+ */
+typedef struct
+{
+    char name[12];    ///< 几何模型名称,不超过10个字符
+}rm_fence_names_t;
+
+/**
+ * @brief 几何模型参数列表
+ * @ingroup Electronic_Fence
+ */
+typedef struct
+{
+    rm_fence_config_t config[10];    
+}rm_fence_config_list_t;
+/**
+ * @brief 包络球参数
+ * 
+ */
+typedef struct{
+    char name[12];            ///< 工具包络球体的名称，1-10 个字节，支持字母数字下划线
+	float radius;           ///< 工具包络球体的半径，单位 m
+    float x;        ///< 工具包络球体球心基于末端法兰坐标系的 X 轴坐标，单位 m
+    float y;        ///< 工具包络球体球心基于末端法兰坐标系的 Y 轴坐标，单位 m
+    float z;        ///< 工具包络球体球心基于末端法兰坐标系的 Z 轴坐标，单位 m
+}rm_envelopes_ball_t;
+/**
+ * @brief 包络球参数集合
+ * 
+ */
+typedef struct{
+	rm_envelopes_ball_t balls[5];///< 包络参数列表，每个工具最多支持 5 个包络球，可以没有包络
+    int size;   ///< 包络球数量
+    char tool_name[12];///< 控制器中已存在的工具坐标系名称，如果不存在该字段，则为临时设置当前包络参数
+}rm_envelope_balls_list_t;
+
+/**
+ * @brief 电子围栏/虚拟墙使能状态参数
+ * 
+ */
+typedef struct
+{
+    bool enable_state;  ///< 电子围栏/虚拟墙使能状态，true 代表使能，false 代表禁使能
+    int in_out_side;    ///< 0-机器人在电子围栏/虚拟墙内部，1-机器人在电子围栏外部
+    int effective_region;   ///< 0-电子围栏针对整臂区域生效，1-虚拟墙针对末端生效
+}rm_electronic_fence_enable_t;
+
+
+/**
+ * @brief  （UDP主动上报机械臂信息）力传感器数据结构体
+ * 
+*/
+typedef struct {
+    float force[6];         ///< 当前力传感器原始数据，0.001N或0.001Nm
+    float zero_force[6];        ///< 当前力传感器系统外受力数据，0.001N或0.001Nm
+    int coordinate;         ///< 系统外受力数据的坐标系，0为传感器坐标系 1为当前工作坐标系 2为当前工具坐标系
+} rm_force_sensor_t;
+
+/***
+ * 扩展关节数据
+ *
+ */
+typedef struct {
+    float pos;            ///< 当前角度  精度 0.001°，单位：°
+    int current;        ///< 当前驱动电流，单位：mA，精度：1mA
+    int err_flag;       ///< 驱动错误代码，错误代码类型参考关节错误代码
+    int en_flag;        ///< 当前关节使能状态 ，1 为上使能，0 为掉使能
+    int joint_id;       ///< 关节id号
+    int mode;           ///< 当前升降状态，0-空闲，1-正方向速度运动，2-正方向位置运动，3-负方向速度运动，4-负方向位置运动
+} rm_udp_expand_state_t;
+
+/***
+ * 升降机构状态
+ *
+ */
+typedef struct {
+    int height;         ///< 当前升降机构高度，单位：mm，精度：1mm
+    float pos;            ///< 当前角度  精度 0.001°，单位：°
+    int current;        ///< 当前驱动电流，单位：mA，精度：1mA
+    int err_flag;       ///< 驱动错误代码，错误代码类型参考关节错误代码
+    int en_flag;        ///< 当前关节使能状态 ，1 为上使能，0 为掉使能
+} rm_udp_lift_state_t;
+/***
+ * 灵巧手状态
+ *
+ */
+typedef struct {
+    int hand_pos[6];         ///< 表示灵巧手位置
+    int hand_angle[6];         ///< 表示灵巧手角度
+    int hand_force[6];            ///< 表示灵巧手自由度力，单位mN
+    int hand_state[6];        ///< 表示灵巧手自由度状态，由灵巧手厂商定义状态含义
+    int hand_err;       ///< 表示灵巧手系统错误，由灵巧手厂商定义错误含义，例如因时状态码如下：1表示有错误，0表示无错误
+} rm_udp_hand_state_t;
+
+/***
+ * 
+ * 轨迹连接配置
+ */
+typedef enum{
+    RM_TRAJECTORY_DISCONNECT_E = 0,   ///<立即规划并执行轨迹，不连接后续轨迹
+    RM_TRAJECTORY_CONNECT_E           ///<将当前轨迹与下一条轨迹一起规划
+}rm_trajectory_connect_config_e;
+
+/**
+ * @brief 机械臂当前状态
+ * 
+ */
+typedef enum {
+    RM_IDLE_E,                     // 使能但空闲状态
+    RM_MOVE_L_E,                   // move L运动中状态
+    RM_MOVE_J_E,                   // move J运动中状态
+    RM_MOVE_C_E,                   // move C运动中状态
+    RM_MOVE_S_E,                   // move S运动中状态
+    RM_MOVE_THROUGH_JOINT_E,       // 角度透传状态
+    RM_MOVE_THROUGH_POSE_E,        // 位姿透传状态
+    RM_MOVE_THROUGH_FORCE_POSE_E,  // 力控透传状态
+    RM_MOVE_THROUGH_CURRENT_E,     // 电流环透传状态
+    RM_STOP_E,                     // 急停状态
+    RM_SLOW_STOP_E,                // 缓停状态
+    RM_PAUSE_E,                    // 暂停状态
+    RM_CURRENT_DRAG_E,             // 电流环拖动状态
+    RM_SENSOR_DRAG_E,              // 六维力拖动状态
+    RM_TECH_DEMONSTRATION_E        // 示教状态
+} rm_udp_arm_current_status_e;
+
+/***
+ * aloha主臂状态
+ *
+ */
+typedef struct {
+    int io1_state;         ///<  IO1状态（手柄光电检测），0为按键未触发，1为按键触发。
+    int io2_state;        ///<  IO2状态（手柄光电检测），0为按键未触发，1为按键触发。
+} rm_udp_aloha_state_t;
+
+/**
+ * 末端设备基础信息(末端生态协议支持)
+*/
+typedef struct{
+    char manu[10];              // 设备厂家
+    int type;               // 设备类型 1：两指夹爪 2：五指灵巧手 3：三指夹爪
+    char hv[10];   // 硬件版本
+    char sv[10];   // 软件版本
+    char bv[10];       // boot版本
+    int id;                 // 设备ID
+    int dof;                // 自由度
+    int check;              // 自检开关
+    int bee;                // 蜂鸣器开关
+    bool force;             // 力控支持
+    bool touch;             // 触觉支持
+    int touch_num;          // 触觉个数
+    int touch_sw;       // 触觉开关
+    int hand;               // 手方向 1 ：左手 2： 右手
+    int pos_up[12];         // 位置上限,单位：无量纲
+    int pos_low[12];        // 位置下限,单位：无量纲
+    int angle_up[12];        // 角度上限,单位：0.01度
+    int angle_low[12];       // 角度下限,单位：0.01度
+    int speed_up[12];        // 速度上限,单位：无量纲
+    int speed_low[12];       // 速度下限,单位：无量纲
+    int force_up[12];        // 力上限,单位：0.001N 
+    int force_low[12];       // 力下限,单位：0.001N 
+} rm_plus_base_info_t;
+// 单位：无量纲
+/**
+ * 末端设备实时信息(末端生态协议支持)
+*/
+typedef struct{
+    int sys_state;      // 系统状态:0正常1设备故障
+    int dof_state[12];   // 各自由度当前状态:0正在松开1正在闭合2位置到位停止3力控到位停止4触觉到位停止5电流保护停止6发生故障
+    int dof_err[12];     // 各自由度错误信息
+    int pos[12];       // 各自由度当前位置,单位：无量纲
+    int speed[12];  //各自由度当前速度,闭合正，松开负，单位：无量纲
+    int angle[12];     // 各自由度当前角度，单位：0.01度
+    int current[12];   // 各自由度当前电流，单位：mA
+    int normal_force[18];         // 自由度触觉三维力的法向力,1-6自由度触觉三维力的法向力*3
+    int tangential_force[18];     // 自由度触觉三维力的切向力
+    int tangential_force_dir[18]; // 自由度触觉三维力的切向力方向
+    uint32_t tsa[12];         // 自由度触觉自接近
+    uint32_t tma[12];         // 自由度触觉互接近
+    int touch_data[18];    // 触觉传感器原始数据(示例中有，但未显示数据的JSON情况)
+    int force[12]; //自由度力矩,闭合正，松开负，单位0.001N
+} rm_plus_state_info_t;
+
+
+/**
+ * @brief  udp主动上报机械臂信息
+ * 
+*/
+typedef struct 
+{
+    int errCode;                        ///< 数据解析错误码，-3为数据解析错误，代表推送的数据不完整或格式不正确
+    char arm_ip[16];                    ///< 推送数据的机械臂的IP地址
+    rm_joint_status_t joint_status;     ///< 关节状态
+    rm_force_sensor_t force_sensor;     ///< 力数据（六维力或一维力版本支持）
+    rm_err_t err;                       ///< 错误码
+    rm_pose_t waypoint;                 ///< 当前路点信息
+    rm_udp_lift_state_t liftState;      ///< 升降关节数据
+    rm_udp_expand_state_t expandState;  ///< 扩展关节数据
+    rm_udp_hand_state_t handState;      ///< 灵巧手数据
+    rm_udp_arm_current_status_e arm_current_status;     ///< 机械臂状态
+    rm_udp_aloha_state_t aloha_state;   ///< aloha主臂状态
+    int rm_plus_state;                  ///< 末端设备状态，0-设备在线，1-表示协议未开启，2-表示协议开启但是设备不在线
+    rm_plus_base_info_t plus_base_info;   ///< 末端设备基础信息
+    rm_plus_state_info_t plus_state_info; ///< 末端设备实时信息
+}rm_realtime_arm_joint_state_t; 
+
+/**
+ * @brief 逆解参数
+ * @ingroup Algo
+ */
+typedef struct {
+    float q_in[ARM_DOF];    ///< 上一时刻关节角度，单位°
+    rm_pose_t q_pose;      ///< 目标位姿
+    uint8_t flag;           ///< 姿态参数类别：0-四元数；1-欧拉角
+} rm_inverse_kinematics_params_t;
+
+typedef struct {
+    int result;  // 0：成功，1：逆解失败，-1：上一时刻关节角度输入为空或超关节限位，-2：目标位姿四元数不合法， -3：当前机器人非六自由度，当前仅支持六自由度机器人
+    int  num;                        // number of solutions
+    float q_ref[8];          // 参考关节角度，通常是当前关节角度, 单位 °
+    float q_solve[8][8];     // 关节角全解, 单位 °
+} rm_inverse_kinematics_all_solve_t;
+
+/**
+ * @brief 包络球描述数据结构
+*/
+typedef struct
+{
+    float radius;     // 球体半径（单位：m）
+    float centrePoint[3]; // 球体中心位置（单位：m，以法兰坐标系为参考坐标系）
+} rm_tool_sphere_t;     // 工具包络球参数
+
+
+/**
+ * @brief 旋转矩阵
+ * @ingroup Algo
+ */
+typedef struct
+{
+    short irow;
+    short iline;
+    float data[4][4];
+} rm_matrix_t;
+/**
+ * @brief 机械臂事件回调函数
+ * @ingroup Init_Class
+ */
+typedef void (*rm_event_callback_ptr)(rm_event_push_data_t data);
+/**
+ * @brief UDP机械臂状态主动上报回调函数
+ * @ingroup Init_Class
+ */
+typedef void (*rm_realtime_arm_state_callback_ptr)(rm_realtime_arm_joint_state_t data);
+
+/**
+ * @brief 机械臂基本信息
+ * @ingroup Init_Class
+ */
+typedef struct
+{
+    uint8_t arm_dof;    ///< 机械臂自由度
+    rm_robot_arm_model_e arm_model;              ///< 机械臂型号
+    rm_force_type_e force_type;                  ///< 末端力传感器版本
+    uint8_t robot_controller_version;                      ///< 机械臂控制器版本，4：四代控制器，3：三代控制器。
+}rm_robot_info_t;
+
+/**
+ * @brief 机械臂控制句柄
+ * @ingroup Init_Class
+ */
+typedef struct {
+    int id;         ///< 句柄id，连接成功id大于0，连接失败返回-1
+}rm_robot_handle;
+
+
+typedef struct
+{
+    float d[8];     //* unit: m
+    float a[8];     //* unit: m
+    float alpha[8]; //* unit: °
+    float offset[8];    //* unit: °
+} rm_dh_t;
+
+/**
+ * @brief 版本号结构体
+ * 不超过10个字符
+ * @ingroup ToolCoordinateConfig
+ * @ingroup WorkCoordinateConfig
+ */
+typedef struct {
+    char version[10];
+} rm_version_t;
+
+/**
+ * @brief 轨迹信息结构体
+ */
+typedef struct {
+    int point_num;           ///< 轨迹点数量
+    char name[20];      ///< 轨迹名称	
+    char create_time[20];    ///< 创建时间
+}rm_trajectory_info_t;
+/**
+ * @brief 轨迹列表结构体
+ * @ingroup OnlineProgramming
+ */
+typedef struct{
+    int page_num;       ///< 页码
+    int page_size;      ///< 每页大小
+    int total_size;     ///< 列表长度
+    char vague_search[32];  ///< 模糊搜索 
+    int list_len;       ///<返回符合的轨迹列表长度
+    rm_trajectory_info_t tra_list[100];   ///< 返回符合的轨迹列表
+}rm_trajectory_list_t;
+/**
+ * @brief Modbus TCP主站信息结构体
+ */
+typedef struct {
+    char master_name[20]; // Modbus 主站名称，最大长度15个字符，不超过15个字符
+    char ip[16];          // TCP主站 IP 地址
+    int port;             // TCP主站端口号	
+}rm_modbus_tcp_master_info_t;
+/**
+ * @brief Modbus TCP主站列表结构体
+ */
+typedef struct{
+    int page_num;       ///< 页码
+    int page_size;      ///< 每页大小
+    int total_size;     ///< 列表长度
+    char vague_search[32];  ///< 模糊搜索	
+    int list_len;       ///<返回符合的TCP主站列表长度
+    rm_modbus_tcp_master_info_t master_list[100];   ///< 返回符合的TCP主站列表
+}rm_modbus_tcp_master_list_t;
+
+/**
+ * @brief Modbus RTU读数据参数结构体
+ */
+typedef struct {
+    int address;    ///< 数据起始地址
+    int device;     ///< 外设设备地址	
+    int type;       ///< 0-控制器端modbus主机；1-工具端modbus主机。
+    int num;        ///< 要读的数据的数量，数据长度不超过109
+}rm_modbus_rtu_read_params_t;
+/**
+ * @brief Modbus RTU写数据结构体
+ */
+typedef struct {
+    int address;    ///< 数据起始地址
+    int device;     ///< 外设设备地址
+    int type;       ///< 0-控制器端modbus主机；1-工具端modbus主机。
+    int num;        ///< 要写的数据的数量，最大不超过100
+    int data[120];  ///< 要写的数据，数据长度不超过100
+}rm_modbus_rtu_write_params_t;
+
+/**
+ * @brief Modbus TCP读数据参数结构体
+ */
+typedef struct {
+    int address;          // 数据起始地址
+    char master_name[20]; // Modbus 主站名称，最大长度15个字符，不超过15个字符（master_name与IP二选一，若有IP和port优先使用IP和port）
+    char ip[16];          // 主机连接的 IP 地址（master_name与IP二选一，若有IP和port优先使用IP和port）
+    int port;             // 主机连接的端口号
+    int num;              // 读取数据数量，最大不超过100
+}rm_modbus_tcp_read_params_t;
+/**
+ * @brief Modbus TCP写数据结构体
+ */
+typedef struct {
+    int address;          // 数据起始地址
+    char master_name[20]; // Modbus 主站名称，最大长度15个字符，不超过15个字符（master_name与IP二选一，若有IP和port优先使用IP和port）
+    char ip[16];          // 主机连接的 IP 地址（master_name与IP二选一，若有IP和port优先使用IP和port）
+    int port;             // 主机连接的端口号
+    int num;              // 写入数据数量，最大不超过100
+    int data[120];        // 写入的数据，数据长度不超过100
+}rm_modbus_tcp_write_params_t;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
\ No newline at end of file

third_party/Robotic_Arm/include/rm_interface_global.h

+#ifndef RM_INTERFACE_GLOBAL_H
+#define RM_INTERFACE_GLOBAL_H
+
+#ifdef __linux
+#define RM_INTERFACE_EXPORT
+#endif
+
+#if _WIN32
+#if defined(RM_INTERFACE_LIBRARY)
+#  define RM_INTERFACE_EXPORT __declspec(dllexport)
+#else
+#  define RM_INTERFACE_EXPORT __declspec(dllexport)
+#endif
+#endif
+
+#endif // RM_INTERFACE_GLOBAL_H

third_party/Robotic_Arm/include/rm_version.h

+
+#ifndef RM_VERSION_H
+#define RM_VERSION_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define SDK_VERSION ("1.1.0")
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+                        
\ No newline at end of file