请帮我解释这段代码：#include "cmd_parse.h" static int bufed_uart_rcv_1B(void *ref, uint8_t *c) { BUFED_UART_T *h = ref; return bufed_uart_rcv(h, c, 1); } CMD_PARSE_T *cmd_ps_1; osThreadId rx_cmp_tst_hd; extern RNG_HandleTypeDef hrng; void uart1_fast_loopback_test(uint32_t fatfs_ok) { uint8_t *tx_buf, *rx_buf; tx_buf= pvPortMalloc(URT_TST_BUF_LEN); if(tx_buf == NULL){ GS_LOGPRT_ERR("tx_buf pvPortMalloc failed.\r\n"); goto err_00; } rx_buf= pvPortMalloc(URT_TST_BUF_LEN); if(rx_buf == NULL){ GS_LOGPRT_ERR("tx_buf pvPortMalloc failed.\r\n"); goto err_01; } FIL *fp = pvPortMalloc(sizeof(*fp)); if(fp==NULL){ GS_LOGPRT_ERR("tx_buf pvPortMalloc failed.\r\n"); goto err_02; } bfdurt_tst_01.rx_buf = rx_buf; bfdurt_tst_01.tx_buf = tx_buf; bfdurt_tst_01.buf_size = URT_TST_BUF_LEN; bfdurt_tst_01.err_cnt = 0; for(uint32_t i = 0; i < URT_TST_BUF_LEN; i++) tx_buf[i] = HAL_RNG_GetRandomNumber(&hrng); osThreadDef(rx_cmp_tst_tsk, uart_rx_cmp, osPriorityBelowNormal, 0, 200); rx_cmp_tst_hd = osThreadCreate(osThread(rx_cmp_tst_tsk), &(bfdurt_tst_ptr)); osDelay(120); uint32_t lp; cmdprs_init(&cmd_ps_1, 256, &RBFD_UART_GET_UART(urt2), bufed_uart_rcv_1B); uint32_t f_num = 0; size_t n; while(1){ GS_Printf("Input test data length\r\n"); cmdprs_read_1line(cmd_ps_1); char ch; int scn = sscanf((void*)cmd_ps_1->buf->data,"%lu%c", &lp, &ch); if(scn == 2){ if(ch == 'M' || ch == 'm') lp <<= 10U; else if(ch == 'G' || ch == 'g') lp <<= 20U; else if(ch == 'K' || ch == 'k') ; else lp >>= 10U; lp /= (URT_TST_BUF_LEN/1024); }else{ GS_Printf("ERROR\r\n"); break; }

帮我修改下面的代码。要求建立一次weboscket链接，链接到wss://autopilot-test.t3go.cn:443/api/v1/vehicle/push/message/LFB1FV696M2L43840，当订阅到感知话题调用perceptionCallback时，通过wss发送serialized_data：#include "ros/ros.h" #include "std_msgs/String.h" #include <boost/thread/locks.hpp> #include <boost/thread/shared_mutex.hpp> #include "third_party/apollo/proto/perception/perception_obstacle.pb.h" #include "t3_perception.pb.h" #include <iostream> #include <websocketpp/config/asio_client.hpp> #include <websocketpp/client.hpp> #include <websocketpp/common/thread.hpp> apollo::perception::PerceptionObstacles perception_obstacles_; typedef websocketpp::clientwebsocketpp::config::asio_tls_client client; void perceptionCallback(const std_msgs::String& msg) { ROS_WARN("t3 perceptionCallback parse"); if (perception_obstacles_.ParseFromString(msg.data)) { double timestamp = perception_obstacles_.header().timestamp_sec(); ROS_INFO("t3 perceptionCallback timestamp %f count:%d", timestamp, perception_obstacles_.perception_obstacle().size()); std::string data; perception_obstacles_.SerializeToString(&data); VehData veh_data; veh_data.set_messagetype(5); veh_data.set_messagedes("PerceptionObstacles"); veh_data.set_contents(data); std::string serialized_data; veh_data.SerializeToString(&serialized_data); } else { ROS_ERROR("t3 perceptionCallback parse fail!"); } } int main(int argc, char **argv) { ros::init(argc, argv, "listener"); ros::NodeHandle n; ros::Subscriber sub = n.subscribe("/perception_node/perception_objects", 1000, perceptionCallback); ros::spin(); return 0; }

好的，这里是修改后的代码： c++ #include "ros/ros.h" #include "std_msgs/String.h" #include <boost/thread/locks.hpp> #include <boost/thread/shared_mutex.hpp> #include "third_party/apollo/proto/...

帮我修改代码，实现用wss发送serialized_data到wss://autopilot-test.t3go.cn:443/api/v1/vehicle/push/message/LFB1FV696M2L43840。 main.cpp: #include "ros/ros.h" #include "std_msgs/String.h" #include <boost/thread/locks.hpp> #include <boost/thread/shared_mutex.hpp> #include "third_party/apollo/proto/perception/perception_obstacle.pb.h" #include "t3_perception.pb.h" apollo::perception::PerceptionObstacles perception_obstacles_; void perceptionCallback(const std_msgs::String& msg) { ROS_WARN("t3 perceptionCallback parse"); if (perception_obstacles_.ParseFromString(msg.data)) { double timestamp = perception_obstacles_.header().timestamp_sec(); ROS_INFO("t3 perceptionCallback timestamp %f count:%d", timestamp, perception_obstacles_.perception_obstacle().size()); std::string data; perception_obstacles_.SerializeToString(&data); VehData veh_data; veh_data.set_messagetype(5); veh_data.set_messagedes("PerceptionObstacles"); veh_data.set_contents(data); std::string serialized_data; veh_data.SerializeToString(&serialized_data); } else { ROS_ERROR("t3 perceptionCallback parse fail!"); } } int main(int argc, char argv) { ros::init(argc, argv, "listener"); ros::NodeHandle n; ros::Subscriber sub = n.subscribe("/perception_node/perception_objects", 1000, perceptionCallback); ros::spin(); return 0; } t3_perception.proto: syntax = "proto3"; option java_package = "com.t3.ts.dt.ad.web.protobuf"; option java_outer_classname = "VehDTO"; option java_multiple_files = false; message VehData { / messageType: 1：客户端心跳 2：云端心跳响应 3：连接成功 4：连接失败 5：客户端发送消息 6：云端发送消息 7：消息处理成功 8：消息处理失败 9：此客户端未注册 10：未知消息类型 */ int32 messageType = 1; string messageDes = 2; bytes contents = 3; // 发送内容 }

c.set_message_handler(bind(&on_message, ::_1, ::_2)); // 连接服务器 websocketpp::lib::error_code ec; client::connection_ptr con = c.get_connection(uri, ec); if (ec) { std::cout ...

请把下列shell语句转换成python语句：. tools/parse_options.sh || exit 1;

该行shell语句的作用是调用parse_options.sh脚本，并将其运行结果作为条件表达式传递给if语句。如果parse_options.sh脚本的返回值为0，则if条件为假，程序继续执行；否则，if条件为真，程序退出。以下是将给定的...

帮我实现websocket wss发送的相关代码将serialized_data用websocket wss发送，#include "ros/ros.h" #include "std_msgs/String.h" #include <boost/thread/locks.hpp> #include <boost/thread/shared_mutex.hpp> #include "third_party/apollo/proto/perception/perception_obstacle.pb.h" #include "t3_perception.pb.h" apollo::perception::PerceptionObstacles perception_obstacles_; void perceptionCallback(const std_msgs::String& msg) { ROS_WARN("t3 perceptionCallback parse"); if (perception_obstacles_.ParseFromString(msg.data)) { double timestamp = perception_obstacles_.header().timestamp_sec(); ROS_INFO("t3 perceptionCallback timestamp %f count:%d", timestamp, perception_obstacles_.perception_obstacle().size()); std::string data; perception_obstacles_.SerializeToString(&data); VehData veh_data; veh_data.set_messagetype(5); veh_data.set_messagedes("PerceptionObstacles"); veh_data.set_contents(data); std::string serialized_data; veh_data.SerializeToString(&serialized_data); } else { ROS_ERROR("t3 perceptionCallback parse fail!"); } } int main(int argc, char **argv) { ros::init(argc, argv, "listener"); ros::NodeHandle n; ros::Subscriber sub = n.subscribe("/perception_node/perception_objects", 1000, perceptionCallback); ros::spin(); return 0; }

好的，下面是一个简单的websocket wss发送代码示例： c++ #include #include <websocketpp/config/asio_client.hpp> #include <websocketpp/client.hpp> #include <websocketpp/common/thread.hpp> typedef ...

改进代码 #include <Adafruit_GPS.h> #include <SoftwareSerial.h> #include #define RXPin 3 #define TXPin 4 #define LCD_RS 7 #define LCD_E 8 #define LCD_D4 9 #define LCD_D5 10 #define LCD_D6 11 #define LCD_D7 12 SoftwareSerial mySerial(RXPin, TXPin); Adafruit_GPS GPS(&mySerial); LiquidCrystal lcd(LCD_RS, LCD_E, LCD_D4, LCD_D5, LCD_D6, LCD_D7); void setup() { GPS.begin(9600); GPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA); GPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ); GPS.sendCommand(PGCMD_ANTENNA); lcd.begin(16, 2); } void loop() { if (GPS.newNMEAreceived()) { GPS.parse(GPS.lastNMEA()); } lcd.clear(); lcd.setCursor(0, 0); lcd.print("Lat: "); lcd.print(GPS.latitude, 4); lcd.print(" Long: "); lcd.print(GPS.longitude, 4); delay(1000); }

这段代码看起来已经很不错了，但是我还是有几点建议可以改进： 1. 将 GPS 相关的常量（如 PMTK_SET_NMEA_OUTPUT_RMCGGA）定义为 const 或 #define 常量，以提高程序的可读性。 2. 在 setup() 函数中，将 ...

/usr/include/spdlog/logger.h:90:9: required from ‘void spdlog::logger::log(spdlog::source_loc, spdlog::level::level_enum, fmt::v8::format_string<T ...>, Args&& ...) [with Args = {cv::Rect_<int>&}; fmt::v8::format_string<T ...> = fmt::v8::basic_format_string<char, cv::Rect_<int>&>]’

这个错误提示出现在 spdlog 库的 logger.h 文件中，它表示在使用 spdlog 记录日志时，传递了一个 cv::Rect_<int>& 类型的参数，这个类型无法被格式化输出。具体来说，fmt 库不知道如何将这个类型转换成...

在ros项目中添加发送websocket wss消息的功能，修改如下代码并在CmakeLists.txt中添加依赖，实现将serialized_data发送到wss://autopilot-test.t3go.cn:443/api/v1/vehicle/push/message/LFB1FV696M2L43840。main.cpp：#include "ros/ros.h" #include "std_msgs/String.h" #include <boost/thread/locks.hpp> #include <boost/thread/shared_mutex.hpp> #include "third_party/apollo/proto/perception/perception_obstacle.pb.h" #include "t3_perception.pb.h" apollo::perception::PerceptionObstacles perception_obstacles_; void perceptionCallback(const std_msgs::String& msg) { ROS_WARN("t3 perceptionCallback parse"); if (perception_obstacles_.ParseFromString(msg.data)) { double timestamp = perception_obstacles_.header().timestamp_sec(); ROS_INFO("t3 perceptionCallback timestamp %f count:%d", timestamp, perception_obstacles_.perception_obstacle().size()); std::string data; perception_obstacles_.SerializeToString(&data); VehData veh_data; veh_data.set_messagetype(5); veh_data.set_messagedes("PerceptionObstacles"); veh_data.set_contents(data); std::string serialized_data; veh_data.SerializeToString(&serialized_data); } else { ROS_ERROR("t3 perceptionCallback parse fail!"); } } int main(int argc, char **argv) { ros::init(argc, argv, "listener"); ros::NodeHandle n; ros::Subscriber sub = n.subscribe("/perception_node/perception_objects", 1000, perceptionCallback); ros::spin(); return 0; }CMakeLists.txt：cmake_minimum_required(VERSION 3.0.2) project(t3) find_package(catkin REQUIRED COMPONENTS roscpp rospy pcl_ros std_msgs third_party ) find_package(Protobuf REQUIRED) include_directories(${Protobuf_INCLUDE_DIRS} ${CMAKE_CURRENT_BINARY_DIR}/..) find_package(Boost REQUIRED) include_directories(${Boost_INCLUDE_DIRS}) set(ixwebsocket_INCLUDE_DIR "/usr/local/include/ixwebsocket") set(ixwebsocket_LIBRARIES "/usr/local/lib/libixwebsocket.a") include_directories(${ixwebsocket_INCLUDE_DIR}) include_directories(${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/${PROJECT_NAME}) include_directories(${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/smartview) catkin_package(INCLUDE_DIRS ${PROJECT_INCLUDE_DIRS} DEPENDS ${GFLAGS_LIBRARIES} ) include_directories( ${catkin_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIR} ${PROJECT_SOURCE_DIR}/.. ) add_executable(${PROJECT_NAME}_node src/main.cpp ) add_dependencies(${PROJECT_NAME}_node ${catkin_EXPORTED_TARGETS}) target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} ${PROTOBUF_LIBRARIES} smartview_proto ) install(TARGETS ${PROJECT_NAME}_node ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} )

你可以使用以下代码来添加发送websocket wss消息的功能，同时在CmakeLists.txt中添加依赖： cpp #include "ros/ros.h" #include "std_msgs/String.h" #include <boost/thread/locks.hpp> #include ...

解释代码的作用和意义 int extern_set_buf(char parse_name, void jsonIn) { return 0; }

这段代码定义了一个名为 extern_set_buf 的函数，它接受两个参数：一个字符指针 parse_name 和一个 void 指针 jsonIn。该函数的返回值为整数类型，返回值为。具体的作用和意义需要根据上下文和代码的使用情况来确定...

将serialized_data用websocket wss发送，#include "ros/ros.h" #include "std_msgs/String.h" #include <boost/thread/locks.hpp> #include <boost/thread/shared_mutex.hpp> #include "third_party/apollo/proto/perception/perception_obstacle.pb.h" #include "t3_perception.pb.h" apollo::perception::PerceptionObstacles perception_obstacles_; void perceptionCallback(const std_msgs::String& msg) { ROS_WARN("t3 perceptionCallback parse"); if (perception_obstacles_.ParseFromString(msg.data)) { double timestamp = perception_obstacles_.header().timestamp_sec(); ROS_INFO("t3 perceptionCallback timestamp %f count:%d", timestamp, perception_obstacles_.perception_obstacle().size()); std::string data; perception_obstacles_.SerializeToString(&data); VehData veh_data; veh_data.set_messagetype(5); veh_data.set_messagedes("PerceptionObstacles"); veh_data.set_contents(data); std::string serialized_data; veh_data.SerializeToString(&serialized_data); } else { ROS_ERROR("t3 perceptionCallback parse fail!"); } } int main(int argc, char **argv) { ros::init(argc, argv, "listener"); ros::NodeHandle n; ros::Subscriber sub = n.subscribe("/perception_node/perception_objects", 1000, perceptionCallback); ros::spin(); return 0; }

这段代码的功能是订阅ROS节点中的/perception_node/perception_objects主题，当有数据到来时，会调用perceptionCallback()函数进行处理。在这个函数中，首先尝试将接收到的数据解析为PerceptionObstacles类型的数据...

解释一下这段代码：if name == "main": args = make_parser().parse_args() exp = get_exp(args.exp_file, args.name) main(exp, args)

这段代码是一个常见的Python脚本的入口设计。它的作用是检测当前模块是否为主模块（即由Python解释器直接执行的模块）。在这个if语句中，当模块被直接执行时，__name__变量的值为"__main__"，因此if语句的条件为真...

usr/include/c++/9/bits/stl_vector.:1943: Parse error at "__detail"

这个错误通常表示在文件/usr/include/c++/9/bits/stl_vector.h的第1943行附近存在语法错误。可能是您的代码中引用了这个文件并且有语法错误，或者可能是您的编译器安装出现了问题。建议您检查您的代码并确保没有任何...

#include <iostream> #include #include #include #include #include int main(int argc, char** argv) { std::cout << "Test PCL !!!" << std::endl; pcl::PointCloudpcl::PointXYZRGB::Ptr point_cloud_ptr(new pcl::PointCloudpcl::PointXYZRGB); uint8_t r(255), g(15), b(15); for (float z(-1.0); z <= 1.0; z += 0.05) { for (float angle(0.0); angle <= 360.0; angle += 5.0) { pcl::PointXYZRGB point; point.x = 0.5 * cosf(pcl::deg2rad(angle)); point.y = sinf(pcl::deg2rad(angle)); point.z = z; uint32_t rgb = (static_cast<uint32_t>(r) << 16 | static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b)); point.rgb = reinterpret_cast<float>(&rgb); point_cloud_ptr->points.push_back(point); } if (z < 0.0) { r -= 12; g += 12; } else { g -= 12; b += 12; } } point_cloud_ptr->width = (int)point_cloud_ptr->points.size(); point_cloud_ptr->height = 1; pcl::visualization::CloudViewer viewer("test"); viewer.showCloud(point_cloud_ptr); while (!viewer.wasStopped()) {}; return 0; }这个代码能在vs022和pcl1.13.1下运行吗

这段代码在VS2012和PCL 1.13.1下运行时会出现编译错误，原因在于以下几点： 1. 在 pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr 这一行中，pcl 和 PointXYZRGB 之间漏了一个点号。 2. 在 point...

请帮我理解以下头文件并写一个程序示例：#ifndef __DBC_HPP #define DBC_HPP__ #include #include #include #include #include <regex> namespace libdbc { class Parser { public: virtual ~Parser() = default; virtual void parse_file(const std::string& file) = 0; protected: }; class DbcParser : public Parser { public: DbcParser(); virtual ~DbcParser() = default; virtual void parse_file(const std::string& file) final override; std::string get_version() const; std::vector<std::string> get_nodes() const; std::vector get_messages() const; Message::ParseSignalsStatus parseMessage(const uint32_t id, const std::vector<uint8_t>& data, std::vector<double>& out_values); private: std::string version; std::vector<std::string> nodes; std::vector messages; const std::regex version_re; const std::regex bit_timing_re; const std::regex name_space_re; const std::regex node_re; const std::regex message_re; const std::regex signal_re; void parse_dbc_header(std::istream& file_stream); void parse_dbc_nodes(std::istream& file_stream); void parse_dbc_messages(const std::vector<std::string>& lines); }; } #endif // __DBC_HPP__

这段代码是一个头文件，包含了一些类和函数的声明，以及一些必要的头文件和命名空间。在头文件中，我们定义和声明了一个名为 libdbc 的命名空间，其中包含了两个类 Parser 和 DbcParser。 Parser 是一个...

修改命令行参数解析示例（aTB_ parse.py），解析命令行参数所输入的长和宽的值，计算并输出长方形的周长和面积。arB_parse.py 文件的代码如下：

args = parser.parse_args() perimeter = 2 * (args.length + args.width) area = args.length * args.width print(f"The perimeter of the rectangle is {perimeter:.2f}") print(f"The area of the rectangle is...

/home/wuyan/test/parse_threads.cpp:37: error: invalid use of non-static member function 'void parse_threads::read(int, QString)' sP104_class.setCallback(read);

这是一个编译错误，错误代码在第37行，错误原因是read是一个非静态成员函数，不能直接作为回调函数使用。需要将它改为静态成员函数或者将对象的地址作为参数传递给回...static void read(int fd, QString data);

#include <string> #include <iostream> #include "rapidjson/document.h" class MyClass { private: static std::string mVin_; public: static const std::string& GetVin(); static void InitializeVin(const std::string& jsonString); }; std::string MyClass::mVin_ = ""; const std::string& MyClass::GetVin() { return mVin_; } void MyClass::InitializeVin(const std::string& jsonString) { rapidjson::Document document; document.Parse(jsonString.c_str()); if (!document.HasMember("vin")) { std::cerr << "JSON does not contain 'vin' field." << std::endl; return; } mVin_ = document["vin"].GetString(); } int main() { MyClass::InitializeVin("{\"vin\": \"123\"}"); std::cout << MyClass::GetVin() << std::endl; return 0; }分成.h和.cpp文件写

MyClass.h: cpp #pragma once #include class MyClass { private: static std::string mVin_; public: static const std::string& GetVin(); static void InitializeVin(const std::string& jsonString);...

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请把下列shell语句转换成python语句：. tools/parse_options.sh || exit 1;

/usr/include/spdlog/logger.h:90:9: required from ‘void spdlog::logger::log(spdlog::source_loc, spdlog::level::level_enum, fmt::v8::format_string<T ...>, Args&& ...) [with Args = {cv::Rect_<int>&}; fmt::v8::format_string<T ...> = fmt::v8::basic_format_string<char, cv::Rect_<int>&>]’

解释代码的作用和意义 int extern_set_buf(char *parse_name, void *jsonIn) { return 0; }

解释一下这段代码：if __name__ == "__main__": args = make_parser().parse_args() exp = get_exp(args.exp_file, args.name) main(exp, args)

usr/include/c++/9/bits/stl_vector.:1943: Parse error at "__detail"

修改命令行参数解析示例 （aTB_ parse.py），解析命令行参数所输入的长和宽的值，计算并输出长方形的周长和面积。arB_parse.py 文件的代码如下：

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修改命令行参数解析示例（aTB_ parse.py），解析命令行参数所输入的长和宽的值，计算并输出长方形的周长和面积。arB_parse.py 文件的代码如下：