#include "header.pb.h"
时间: 2023-07-25 11:03:40 浏览: 62
这行代码是为了包含 Protobuf 消息的头文件,其中的 "header.pb.h" 可能需要根据你的实际情况进行修改。在本例中,我们假设你已经使用 Protobuf 编译器生成了名为 "header.proto" 的 Protobuf 文件,并使用以下命令将其编译为 C++ 文件:
```
protoc -I=./ --cpp_out=./ header.proto
```
在编译后,你将会得到一个名为 "header.pb.h" 的头文件,其中包含了你定义的所有消息。在本例中,我们只使用了一个名为 "FiuHeader" 的消息。
相关问题
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/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>
using namespace std;
apollo::perception::PerceptionObstacles perception_obstacles_;
typedef websocketpp::client<websocketpp::config::asio_tls_client> client;
void perceptionCallback(const std_msgs::String& msg, client* c) {
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);
try {
c->send(serialized_data);
} catch (const websocketpp::exception& e) {
ROS_ERROR("t3 perceptionCallback send failed: %s", e.what());
}
} 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,
boost::bind(&perceptionCallback, _1, new client()));
client* c = sub.getCallbackQueue()->getCallbackThread().get_context<client>();
c->set_access_channels(websocketpp::log::alevel::none);
c->set_error_channels(websocketpp::log::elevel::none);
websocketpp::lib::error_code ec;
client::connection_ptr con = c->get_connection("wss://autopilot-test.t3go.cn:443/api/v1/vehicle/push/message/LFB1FV696M2L43840", ec);
if (ec) {
ROS_ERROR("t3 websocket connection failed: %s", ec.message().c_str());
return 1;
}
c->connect(con);
ROS_INFO("t3 websocket connected");
ros::spin();
return 0;
}
```
主要的修改包括:
1. 将 `websocketpp::clientwebsocketpp::config::asio_tls_client` 改为 `websocketpp::client<websocketpp::config::asio_tls_client>`,因为 `websocketpp` 3.0 版本后改变了类模板的定义。
2. 修改 `perceptionCallback` 函数,将 `serialized_data` 发送到 websocket 服务器。由于该函数是回调函数,需要将 client 指针作为参数传递进去,这里使用 `boost::bind` 来实现。
3. 在 `main` 函数中建立 websocket 连接,并将 client 指针传递给 `perceptionCallback` 函数。注意要将 client 的日志级别设置为 none,以避免输出过多的日志。
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 <iostream>
#include <websocketpp/config/asio_client.hpp>
#include <websocketpp/client.hpp>
#include <websocketpp/common/thread.hpp>
typedef websocketpp::client<websocketpp::config::asio_tls_client> client;
int main(int argc, char **argv) {
// Create a client endpoint
client endpoint;
try {
// Set up SSL options
endpoint.set_tls_init_handler([] (websocketpp::connection_hdl) {
return websocketpp::lib::make_shared<boost::asio::ssl::context>(boost::asio::ssl::context::sslv23);
});
// Set up access credentials
websocketpp::lib::error_code ec;
client::connection_ptr con = endpoint.get_connection("wss://example.com", ec);
if (ec) {
std::cout << "could not create connection because: " << ec.message() << std::endl;
return 0;
}
con->add_subprotocol("chat");
con->append_header("Authorization", "Bearer " + access_token);
// Send serialized data
std::string serialized_data = "your serialized data here";
endpoint.connect(con);
endpoint.send(con, serialized_data, websocketpp::frame::opcode::text);
// Wait for the connection to close
endpoint.run();
} catch (const std::exception& e) {
std::cout << e.what() << std::endl;
}
return 0;
}
```
这里使用了websocketpp库,需要在代码中添加相应的头文件和链接websocketpp库。其中,access_token是访问令牌,如果需要的话可以根据具体的需求进行添加。在代码中,具体的websocket wss地址和协议可以根据实际情况进行修改。需要注意的是,这里使用了SSL/TLS协议进行加密,确保数据传输的安全性。
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