findres.cpp

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#include <windows.h> 
#include "FindRes.h"


#if defined (WIN32)
 #define IS_WIN32 TRUE
#else
 #define IS_WIN32 FALSE
#endif

#define IS_NT      IS_WIN32 && (BOOL)(GetVersion() < 0x80000000)
#define IS_WIN32S  IS_WIN32 && (BOOL)(!(IS_NT) && (LOBYTE(LOWORD(GetVersion()))<4))
#define IS_WIN95   (BOOL)(!(IS_NT) && !(IS_WIN32S)) && IS_WIN32

HINSTANCE hInst;   // current instance

LPCTSTR lpszAppName  = "MyApp";
LPCTSTR lpszTitle    = "My Application";

BOOL RegisterWin95( CONST WNDCLASS* lpwc );

int APIENTRY WinMain( HINSTANCE hInstance, HINSTANCE hPrevInstance,
                      LPTSTR lpCmdLine, int nCmdShow)
{
   MSG      msg;
   HWND     hWnd;
   WNDCLASS wc;

   // Register the main application window class.
   //............................................
   wc.style         = CS_HREDRAW | CS_VREDRAW;
   wc.lpfnWndProc   = (WNDPROC)WndProc;      
   wc.cbClsExtra    = 0;                     
   wc.cbWndExtra    = 0;                     
   wc.hInstance     = hInstance;             
   wc.hIcon         = LoadIcon( hInstance, lpszAppName );
   wc.hCursor       = LoadCursor(NULL, IDC_ARROW);
   wc.hbrBackground = (HBRUSH)(COLOR_WINDOW+1);
   wc.lpszMenuName  = lpszAppName;             
   wc.lpszClassName = lpszAppName;             

   if ( IS_WIN95 )
   {
      if ( !RegisterWin95( &wc ) )
         return( FALSE );
   }
   else if ( !RegisterClass( &wc ) )
      return( FALSE );

   hInst = hInstance;

   // Create the main application window.
   //....................................
   hWnd = CreateWindow( lpszAppName,
                        lpszTitle,   
                        WS_OVERLAPPEDWINDOW,
                        CW_USEDEFAULT, 0,
                        CW_USEDEFAULT, 0, 
                        NULL,             
                        NULL,             
                        hInstance,        
                        NULL              
                      );

   if ( !hWnd )
      return( FALSE );

   ShowWindow( hWnd, nCmdShow );
   UpdateWindow( hWnd );        

   while( GetMessage( &msg, NULL, 0, 0) )  
   {
      TranslateMessage( &msg );
      DispatchMessage( &msg ); 
   }

   return( msg.wParam );
}


BOOL RegisterWin95( CONST WNDCLASS* lpwc )
{
   WNDCLASSEX wcex;

   wcex.style         = lpwc->style;
   wcex.lpfnWndProc   = lpwc->lpfnWndProc;
   wcex.cbClsExtra    = lpwc->cbClsExtra;
   wcex.cbWndExtra    = lpwc->cbWndExtra;
   wcex.hInstance     = lpwc->hInstance;
   wcex.hIcon         = lpwc->hIcon;
   wcex.hCursor       = lpwc->hCursor;
   wcex.hbrBackground = lpwc->hbrBackground;
   wcex.lpszMenuName  = lpwc->lpszMenuName;
   wcex.lpszClassName = lpwc->lpszClassName;

   // Added elements for Windows 95.
   //...............................
   wcex.cbSize = sizeof(WNDCLASSEX);
   wcex.hIconSm = LoadImage(wcex.hInstance, lpwc->lpszClassName,
                            IMAGE_ICON, 16, 16,
                            LR_DEFAULTCOLOR );
   
   return RegisterClassEx( &wcex );
}

LRESULT CALLBACK WndProc( HWND hWnd, UINT uMsg, WPARAM wParam, LPARAM lParam )
{
   switch( uMsg )
   {
      case WM_COMMAND :
              switch( LOWORD( wParam ) )
              {
                 case IDM_TEST :
                        {
                           HRSRC hres = FindResource( hInst, "TestData",
                                                             RT_RCDATA );

                           if ( hres )
                           {
                              char szMsg[50];
                              DWORD    size = SizeofResource( hInst, hres );
                              HGLOBAL  hmem = LoadResource( hInst, hres );
                              RESDATA* pmem = (RESDATA*)LockResource( hmem );

                              wsprintf( szMsg, "Values loaded: %d, %d, %d/nSize = %d",
                                               pmem->Value1,
                                               pmem->Value2,
                                               pmem->Value3,
                                               size );

                              MessageBox( hWnd, szMsg, lpszAppName, MB_OK );
                           }
                        }
                        break;

                 case IDM_ABOUT :
                        DialogBox( hInst, "AboutBox", hWnd, (DLGPROC)About );
                        break;

                 case IDM_EXIT :
                        DestroyWindow( hWnd );
                        break;
              }
              break;
     
      case WM_DESTROY :
              PostQuitMessage(0);
              break;

      default :
            return( DefWindowProc( hWnd, uMsg, wParam, lParam ) );
   }

   return( 0L );
}


LRESULT CALLBACK About( HWND hDlg,          
                        UINT message,       
                        WPARAM wParam,      
                        LPARAM lParam)
{
   switch (message)
   {
       case WM_INITDIALOG:
               return (TRUE);

       case WM_COMMAND:                             
               if (   LOWORD(wParam) == IDOK        
                   || LOWORD(wParam) == IDCANCEL)   
               {
                       EndDialog(hDlg, TRUE);       
                       return (TRUE);
               }
               break;
   }

   return (FALSE);
}

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好的,这是一个比较复杂的问题,需要分步骤进行实现。我会尽可能详细地解释每一步,希望您能够跟上。 首先,进入您的ROS工作空间,创建一个名为`name_ws`的工作空间,如果已存在则跳过这一步: ``` mkdir -p ~/name_ws/src cd ~/name_ws/src catkin_init_workspace cd .. catkin_make ``` 下一步,在`src`目录下创建一个名为`name_学号_pkg`的功能包,其中`学号`是您自己的学号后两位,例如`05`: ``` cd ~/name_ws/src catkin_create_pkg name_学号_pkg rospy ``` 接着,在`src`目录下创建`name_server.cpp`和`name_client.cpp`两个文件: ``` cd ~/name_ws/src/name_学号_pkg/src touch name_server.cpp name_client.cpp ``` 打开`name_server.cpp`文件,输入以下代码: ```c++ #include "ros/ros.h" #include "name_学号_pkg/RectangularBox.h" bool calculate(name_学号_pkg::RectangularBox::Request &req, name_学号_pkg::RectangularBox::Response &res) { ROS_INFO("Calculating the volume and surface area of the rectangular box..."); float l = req.length; float w = req.width; float h = req.height; float volume = l * w * h; float surface_area = 2 * (l * w + w * h + h * l); ROS_INFO("Length: %f", l); ROS_INFO("Width: %f", w); ROS_INFO("Height: %f", h); ROS_INFO("Volume: %f", volume); ROS_INFO("Surface area: %f", surface_area); res.volume = volume; res.surface_area = surface_area; return true; } int main(int argc, char **argv) { ros::init(argc, argv, "name_server"); ros::NodeHandle nh; ROS_INFO("Ready to calculate the volume and surface area of the rectangular box."); ros::ServiceServer service = nh.advertiseService("rectangular_box", calculate); ros::spin(); return 0; } ``` 这是服务端程序,实现了长方体体积和表面积的计算,并且定义了一个名为`calculate`的函数来处理客户端请求。该函数接收一个`name_学号_pkg::RectangularBox::Request`类型的请求和一个`name_学号_pkg::RectangularBox::Response`类型的响应。在函数内部,从请求中获取长、宽、高三个参数,并使用这些参数计算长方体的体积和表面积。最后,将计算结果存储在响应中,并返回`true`。 接下来,打开`name_client.cpp`文件,输入以下代码: ```c++ #include "ros/ros.h" #include "name_学号_pkg/RectangularBox.h" #include <cstdlib> int main(int argc, char **argv) { ros::init(argc, argv, "name_client"); if (argc != 4) { ROS_INFO("Usage: name_client length width height"); return 1; } ros::NodeHandle nh; ros::ServiceClient client = nh.serviceClient<name_学号_pkg::RectangularBox>("rectangular_box"); name_学号_pkg::RectangularBox srv; srv.request.length = atof(argv[1]); srv.request.width = atof(argv[2]); srv.request.height = atof(argv[3]); if (client.call(srv)) { ROS_INFO("Volume: %f", srv.response.volume); ROS_INFO("Surface area: %f", srv.response.surface_area); } else { ROS_ERROR("Failed to call service rectangular_box"); return 1; } return 0; } ``` 这是客户端程序,用于向服务端发送请求,并接收响应。客户端程序接收三个参数:长、宽、高。这三个参数将作为请求发送到服务端。客户端程序通过调用`ros::ServiceClient`类来与服务端进行通信。 最后,我们需要定义一个名为`RectangularBox.srv`的服务文件,用于定义请求和响应消息: ``` cd ~/name_ws/src/name_学号_pkg/srv touch RectangularBox.srv ``` 打开`RectangularBox.srv`文件,输入以下代码: ``` float32 length float32 width float32 height --- float32 volume float32 surface_area ``` 这个文件定义了一个`RectangularBox`服务,包含三个请求参数`length`、`width`和`height`,以及两个响应参数`volume`和`surface_area`。 最后,在`package.xml`文件中添加以下代码: ```xml <build_depend>message_generation</build_depend> <exec_depend>message_runtime</exec_depend> <build_depend>std_msgs</build_depend> <exec_depend>std_msgs</exec_depend> ``` 在`CMakeLists.txt`文件中添加以下代码: ```cmake find_package(catkin REQUIRED COMPONENTS message_generation std_msgs ) add_service_files( FILES RectangularBox.srv ) generate_messages( DEPENDENCIES std_msgs ) catkin_package( CATKIN_DEPENDS message_runtime std_msgs ) ``` 这些代码用于在`name_学号_pkg`功能包中添加服务文件,并生成服务消息。 最后,在根目录下运行以下命令编译: ``` cd ~/name_ws catkin_make ``` 编译完成后,启动ROS节点: ``` roscore ``` 在新的终端中,启动服务端节点: ``` rosrun name_学号_pkg name_server ``` 在另一个终端中,启动客户端节点,并发送请求: ``` rosrun name_学号_pkg name_client 2.0 3.0 4.0 ``` 这里的三个参数分别为长、宽、高。客户端将向服务端发送请求,并输出计算结果。
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