for (auto [_, pos]: position)
时间: 2023-02-24 21:34:10 浏览: 105
这是一段 C++ 代码,它在 C++17 版本中引入了新的语法:"structured bindings",用于简化解构过程。其中,"auto [_, pos]" 表示对 "position" 这个对象进行解构,并将其第二个元素赋值给 "pos"。 "_" 表示对第一个元素不进行赋值,即忽略掉第一个元素。
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更正这个Python代码import rospy from mavros_msgs.msg import State from mavros_msgs.srv import CommandBool, SetMode from geometry_msgs.msg import PoseStamped import time current_state = State() def state_cb(msg): global current_state current_state = msg rospy.init_node('position') rate = rospy.Rate(20.0) state_sub = rospy.Subscriber("mavros/state", State, state_cb) local_pos_pub = rospy.Publisher("mavros/setpoint_position/local", PoseStamped, queue_size=10) arming_client = rospy.ServiceProxy("mavros/cmd/arming", CommandBool) set_mode_client = rospy.ServiceProxy("mavros/set_mode", SetMode) wait for FCU connection while not rospy.is_shutdown() and not current_state.connected: rate.sleep() pose = PoseStamped() pose.pose.position.x = 0 pose.pose.position.y = 0 pose.pose.position.z = 1.5 offb_set_mode = SetMode() offb_set_mode.custom_mode = "OFFBOARD" arm_cmd = CommandBool() arm_cmd.value = True state = 3 last_request = rospy.Time.now() while not rospy.is_shutdown() and (rospy.Time.now() - last_request < rospy.Duration(5.0)): if not current_state.armed: if arming_client(arm_cmd) and arm_cmd.response.success: rospy.loginfo("Vehicle armed") if current_state.mode != "OFFBOARD": if set_mode_client(offb_set_mode) and offb_set_mode.response.mode_sent: rospy.loginfo("Offboard enabled") rate.sleep() while state > 0: last_request = rospy.Time.now() while not rospy.is_shutdown() and (rospy.Time.now() - last_request < rospy.Duration(5.0)): pose.pose.position.x = 0 pose.pose.position.y = 0 local_pos_pub.publish(pose) rospy.loginfo("SUCCESS0") rate.sleep() last_request = rospy.Time.now() while not rospy.is_shutdown() and (rospy.Time.now() - last_request < rospy.Duration(5.0)): pose.pose.position.x = 2 pose.pose.position.y = 2 local_pos_pub.publish(pose) rospy.loginfo("SUCCESS1") rate.sleep() state -= 1 rospy.loginfo("state=" + str(state)) offb_set_mode.custom_mode = "AUTO.LAND" if set_mode_client(offb_set_mode) and offb_set_mode.response.mode_sent: rospy.loginfo("AUTO.LAND enabled") last_request = rospy.Time.now() rospy.spin()
这段 Python 代码主要是控制飞行器执行一定的动作。代码中,首先通过导入 rospy、mavros_msgs.msg、mavros_msgs.srv、geometry_msgs.msg 等模块,定义了一些变量和函数。
然后,在 while 循环中,程序会等待与飞控系统的连接建立,之后会设置飞行器的起飞高度为 1.5 米,然后进入一个 while 循环,其中会执行飞行器的上升和向右移动,最后执行自动降落的任务。
其中,offb_set_mode.custom_mode = "OFFBOARD" 会将飞行器的模式设置为 OFFBOARD,arm_cmd.value = True 会将飞行器的电机解锁,local_pos_pub.publish(pose) 会将飞行器的位置信息发布到话题中,set_mode_client(offb_set_mode) 会将飞行器的模式切换为指定的模式,arming_client(arm_cmd) 会将飞行器的电机锁定或解锁。
下面是一个寄存器说明列表,能帮我生成一个.h的宏定义文件么?REGISTER ADDRESS REGISTER DATA(1) HEX 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 LVDS_ RATE_2X 0 0 0 0 0 0 0 0 0 0 0 0 0 GLOBAL_ PDN 2 PAT_MODES_FCLK[2:0] LOW_ LATENCY_E N AVG_EN SEL_PRBS_ PAT_ FCLK PAT_MODES SEL_PRBS_ PAT_GBL OFFSET_CORR_DELAY_FROM_TX_TRIG[5:0] 3 SER_DATA_RATE DIG_GAIN_ EN 0 OFFSET_CORR_DELAY _FROM_TX_TRIG[7:6] DIG_ OFFSET_ EN 0 0 0 1 0 0 0 0 4 OFFSET_ REMOVA L_SELF OFFSET_ REMOVAL_ START_ SEL OFFEST_ REMOVAL_ START_ MANUAL AUTO_OFFSET_REMOVAL_ACC_CYCLES[3:0] PAT_ SELECT_ IND PRBS_ SYNC PRBS_ MODE PRBS_EN MSB_ FIRST DATA_ FORMAT 0 ADC_RES 5 CUSTOM_PATTERN 7 AUTO_OFFSET_REMOVAL_VAL_RD_CH_SEL 0 0 0 0 0 0 0 0 0 0 CHOPPER_EN 8 0 0 AUTO_OFFSET_REMOVAL_VAL_RD B 0 0 0 0 EN_ DITHER 0 0 0 0 0 0 0 0 0 0 0 D GAIN_ADC1o 0 OFFSET_ADC1o E GAIN_ADC1e 0 OFFSET_ADC1e F GAIN_ADC2o 0 OFFSET_ADC2o 10 GAIN_ADC2e 0 OFFSET_ADC2e 11 GAIN_ADC3o 0 OFFSET_ADC3o 12 GAIN_ADC3e 0 OFFSET_ADC3e
好的,以下是一个简单的 Python 脚本,可以根据给定的寄存器说明列表生成 .h 宏定义文件:
```python
# 寄存器说明列表
register_list = [
{'name': 'REGISTER_0', 'address': '0x00', 'data': '0x0000', 'bits': [
{'name': 'DTGC_WR_EN', 'position': 0},
{'name': 'REG_READ_EN', 'position': 2},
{'name': 'SOFTWARE_RESET', 'position': 3}
]},
{'name': 'REGISTER_1', 'address': '0x01', 'data': '0x0000', 'bits': [
{'name': 'LVDS_RATE_2X', 'position': 14},
{'name': 'GLOBAL_PDN', 'position': 13},
{'name': 'PAT_MODES_FCLK', 'position': 10, 'width': 3},
{'name': 'LOW_LATENCY_EN', 'position': 9},
{'name': 'AVG_EN', 'position': 8},
{'name': 'SEL_PRBS_PAT_FCLK', 'position': 7},
{'name': 'PAT_MODES', 'position': 4, 'width': 3},
{'name': 'SEL_PRBS_PAT_GBL', 'position': 3},
{'name': 'OFFSET_CORR_DELAY_FROM_TX_TRIG', 'position': 0, 'width': 6}
]},
{'name': 'REGISTER_2', 'address': '0x02', 'data': '0x0000', 'bits': [
{'name': 'SER_DATA_RATE', 'position': 15},
{'name': 'DIG_GAIN_EN', 'position': 14},
{'name': 'OFFSET_CORR_DELAY_FROM_TX_TRIG', 'position': 8, 'width': 2},
{'name': 'DIG_OFFSET_EN', 'position': 6},
{'name': 'ADC_RES', 'position': 0, 'width': 4}
]},
{'name': 'REGISTER_3', 'address': '0x03', 'data': '0x0000', 'bits': [
{'name': 'OFFSET_REMOVAL_SELF', 'position': 15},
{'name': 'OFFSET_REMOVAL_START_SEL', 'position': 14},
{'name': 'OFFEST_REMOVAL_START_MANUAL', 'position': 13},
{'name': 'AUTO_OFFSET_REMOVAL_ACC_CYCLES', 'position': 9, 'width': 4},
{'name': 'PAT_SELECT_IND', 'position': 8},
{'name': 'PRBS_SYNC', 'position': 7},
{'name': 'PRBS_MODE', 'position': 6},
{'name': 'PRBS_EN', 'position': 5},
{'name': 'MSB_FIRST', 'position': 4},
{'name': 'DATA_FORMAT', 'position': 3},
{'name': 'ADC_RES', 'position': 0, 'width': 3}
]},
{'name': 'REGISTER_4', 'address': '0x04', 'data': '0x0000', 'bits': [
{'name': 'CUSTOM_PATTERN', 'position': 0, 'width': 16}
]},
{'name': 'REGISTER_5', 'address': '0x05', 'data': '0x0000', 'bits': [
{'name': 'AUTO_OFFSET_REMOVAL_VAL_RD_CH_SEL', 'position': 8},
{'name': 'CHOPPER_EN', 'position': 0}
]},
{'name': 'REGISTER_6', 'address': '0x06', 'data': '0x0000', 'bits': []},
{'name': 'REGISTER_7', 'address': '0x07', 'data': '0x0000', 'bits': [
{'name': 'EN_DITHER', 'position': 4}
]}
]
# 生成 .h 文件
with open('register_definitions.h', 'w') as f:
f.write('#ifndef __REGISTER_DEFINITIONS_H__\n')
f.write('#define __REGISTER_DEFINITIONS_H__\n\n')
for register in register_list:
f.write(f'#define {register["name"]}_ADDR {register["address"]}\n')
f.write(f'#define {register["name"]}_DATA {register["data"]}\n')
for bit in register['bits']:
if 'width' in bit:
f.write(f'#define {register["name"]}_{bit["name"]}_POS {bit["position"]}\n')
f.write(f'#define {register["name"]}_{bit["name"]}_WIDTH {bit["width"]}\n')
else:
f.write(f'#define {register["name"]}_{bit["name"]}_POS {bit["position"]}\n')
f.write('\n')
f.write('#endif /* __REGISTER_DEFINITIONS_H__ */\n')
```
这个脚本会将寄存器的名称、地址、数据以及各个位的位置和宽度写入 .h 文件中。你可以根据需要对生成的宏定义文件进行修改和调整。