refactor: use standard integer types; remove <algorithm> dependency

- Replaced unsigned char,  int and long long with uint8_t int32_t and int64_t for platform independence
- Removed <algorithm> dependency, implemented custom alternatives

cx9261A_api/utils.h

@@ -4,52 +4,62 @@
 
 #ifndef CX9261ADRIVER_UTILS_H
 #define CX9261ADRIVER_UTILS_H
-#include <algorithm>
+#include <cstdint>
 #include <bitset>
 #include <cmath>
 #include <string>
 namespace CX9261A {
-#if __cplusplus >= 201703L
 template <typename T>
 constexpr const T& clamp(const T& v, const T& lo, const T& hi) {
-    return std::clamp(v, lo, hi);
+    if (v < lo) return lo;
+    if (v > hi) return hi;
+    return v;
 }
-#else
+
+template <typename Float>
+std::int32_t round32(Float f) {
+    return static_cast<std::int32_t>(std::round(f));
+}
+
+template <typename Float>
+std::int64_t round64(Float f) {
+    return static_cast<std::int64_t>(std::round(f));
+}
+
+template <typename Float>
+std::int32_t floor32(Float f) {
+    return static_cast<std::int32_t>(std::floor(f));
+}
+
+template <typename Float>
+std::int64_t floor64(Float f) {
+    return static_cast<std::int64_t>(std::floor(f));
+}
+
+template <typename Float>
+std::int32_t ceil32(Float f) {
+    return static_cast<std::int32_t>(std::ceil(f));
+}
+
+template <typename Float>
+std::int64_t ceil64(Float f) {
+    return static_cast<std::int64_t>(std::ceil(f));
+}
+
 template <typename T>
-constexpr const T& clamp(const T& v, const T& lo, const T& hi) {
-    return std::max(std::min(hi, v), lo);
-}
-#endif
-
-template <typename Float>
-int round(Float f) {
-    return static_cast<int>(std::round(f));
+size_t search_first_ge(const std::vector<T>& arr, const T& value) {
+    size_t ret = arr.size();  // 如果搜索失败默认返回数组长度
+    for (size_t i = 0; i < arr.size(); ++i) {
+        if (arr[i] >= value) {
+            // 找到更小的元素时更新下标
+            if (ret == arr.size() || arr[i] < arr[ret]) {
+                ret = i;
+            }
+        }
+    }
+    return ret;
 }
 
-template <typename Float>
-long long round64(Float f) {
-    return static_cast<long long>(std::round(f));
-}
-
-template <typename Float>
-int floor(Float f) {
-    return static_cast<int>(std::floor(f));
-}
-
-template <typename Float>
-long long floor64(Float f) {
-    return static_cast<long long>(std::floor(f));
-}
-
-template <typename Float>
-int ceil(Float f) {
-    return static_cast<int>(std::ceil(f));
-}
-
-template <typename Float>
-long long ceil64(Float f) {
-    return static_cast<long long>(std::ceil(f));
-}
 /**
 * @brief Register类，提供方便的位操作函数
 */
@@ -63,7 +73,7 @@ public:
     /**
     * 以十进制返回寄存器值
     */
-    unsigned char value() const { return static_cast<unsigned char>(m_value.to_ulong()); }
+    std::uint8_t value() const { return static_cast<std::uint8_t>(m_value.to_ulong()); }
     /**
     * 对寄存器值进行部分值的替换操作
     * 例：replace(7, 4, 0b1111); 使寄存器的高四位为1
@@ -71,7 +81,7 @@ public:
     * @param end 中止位
     * @param after 要替换的值
     */
-    void replace(const unsigned int start, const unsigned int end, unsigned char after) {
+    void replace(const std::uint8_t start, const std::uint8_t end, std::uint8_t after) {
         for (auto i = end; i <= start; ++i) {
             m_value[i] = (after >> (i - end)) & 0b1;
         }