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 }

您可以使用以下代码实现发送 `serialized_data` 到 `wss://autopilot-test.t3go.cn:443/api/v1/vehicle/push/message/LFB1FV696M2L43840`：

#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 "websocketpp/config/asio_client.hpp"
#include "websocketpp/client.hpp"

using websocketpp::lib::placeholders::_1;
using websocketpp::lib::placeholders::_2;
using websocketpp::lib::bind;

typedef websocketpp::client<websocketpp::config::asio_tls_client> client;
typedef boost::shared_ptr<boost::asio::ssl::context> context_ptr;

context_ptr on_tls_init(websocketpp::connection_hdl) {
    context_ptr ctx = boost::make_shared<boost::asio::ssl::context>(boost::asio::ssl::context::tlsv12);
    try {
        ctx->set_options(boost::asio::ssl::context::default_workarounds |
                         boost::asio::ssl::context::no_sslv2 |
                         boost::asio::ssl::context::no_sslv3 |
                         boost::asio::ssl::context::single_dh_use);
    } catch (std::exception& e) {
        std::cout << e.what() << std::endl;
    }
    return ctx;
}

void on_open(client* c, websocketpp::connection_hdl hdl) {
    std::string message = "Hello, world!";
    try {
        c->send(hdl, message, websocketpp::frame::opcode::text);
    } catch (websocketpp::exception const & e) {
        std::cout << e.what() << std::endl;
    }
}

void on_fail(client* c, websocketpp::connection_hdl hdl) {
    client::connection_ptr con = c->get_con_from_hdl(hdl);
    std::cout << "Connection to " << con->get_uri() << " failed: " << con->get_ec().message() << std::endl;
}

void on_message(websocketpp::connection_hdl hdl, client::message_ptr msg) {
    std::cout << "Received message: " << msg->get_payload() << std::endl;
}

void perceptionCallback(const std_msgs::String& msg) {
    ROS_WARN("t3 perceptionCallback parse");
    apollo::perception::PerceptionObstacles perception_obstacles_;
    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);
        
        // 创建 websocket 客户端
        client c;
        std::string uri = "wss://autopilot-test.t3go.cn:443/api/v1/vehicle/push/message/LFB1FV696M2L43840";
        
        try {
            // 设置 TLS 初始化回调函数
            c.set_tls_init_handler(bind(&on_tls_init, ::_1));
            
            // 设置回调函数
            c.set_open_handler(bind(&on_open, &c, ::_1));
            c.set_fail_handler(bind(&on_fail, &c, ::_1));
            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 << "Could not create connection: " << ec.message() << std::endl;
                return;
            }
            c.connect(con);
            
            // 发送数据
            c.send(con->get_handle(), serialized_data, websocketpp::frame::opcode::binary);
            
            // 等待连接关闭
            c.run();
        } catch (websocketpp::exception const & e) {
            std::cout << e.what() << std::endl;
        }
    } 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;
}

在上面的代码中，我们使用了 websocketpp 库来创建 websocket 客户端，并发送二进制数据到指定的服务器。在 `perceptionCallback` 函数中，我们将解析得到的 Protobuf 数据序列化为二进制数据，并发送到服务器。

请注意，这里我们使用了 TLS 加密的 websocket 连接，因此需要设置 TLS 初始化回调函数来初始化 SSL 上下文。同时，我们也设置了连接成功、连接失败和收到消息的回调函数。