use_str.cpp

  name="google_ads_frame" marginwidth="0" marginheight="0" src="http://pagead2.googlesyndication.com/pagead/ads?client=ca-pub-5572165936844014&dt=1194442938015&lmt=1194190197&format=336x280_as&output=html&correlator=1194442937843&url=file%3A%2F%2F%2FC%3A%2FDocuments%2520and%2520Settings%2Flhh1%2F%E6%A1%8C%E9%9D%A2%2FCLanguage.htm&color_bg=FFFFFF&color_text=000000&color_link=000000&color_url=FFFFFF&color_border=FFFFFF&ad_type=text&ga_vid=583001034.1194442938&ga_sid=1194442938&ga_hid=1942779085&flash=9&u_h=768&u_w=1024&u_ah=740&u_aw=1024&u_cd=32&u_tz=480&u_java=true" frameborder="0" width="336" scrolling="no" height="280" allowtransparency="allowtransparency"> #include <iostream.h>
#include <stdlib.h>
#include <string.h>
#include <conio.h>
#include <stdio.h>

class Strings {
   char *p;
   int size;
 public:
   Strings(char *str);
   Strings(void);
   Strings(const Strings &obj);           // Copy constructor
   ~Strings(void) {delete [] p;}

   friend ostream &operator<<(ostream &stream, Strings &obj);
   friend istream &operator>>(istream &stream, Strings &obj);

   Strings operator=(Strings &obj);       // assign a Strings object
   Strings operator=(char *s);            // assign a quoted string
   Strings operator+(Strings &obj);       // concatenate a Strings object
   Strings operator+(char *s);            // concatenate a quoted string
   friend Strings operator+(char *s, Strings &obj);
            /* concatenates a quoted string with a Strings object */

   Strings operator-(Strings &obj);       // subtract a Strings object
   Strings operator-(char *s);            // subtract a quoted string

 /* relational operators between Strings objects. Note that the operators could
    just as easily return bool, rather than int */

   int operator==(Strings &obj) {return !strcmp(p, obj.p);}
   int operator!=(Strings &obj) {return strcmp(p, obj.p);}
   int operator<(Strings &obj) {return strcmp(p, obj.p) < 0;}
   int operator>(Strings &obj) {return strcmp(p, obj.p) > 0;}
   int operator<=(Strings &obj) {return strcmp(p, obj.p) <= 0;}
   int operator>=(Strings &obj) {return strcmp(p, obj.p) >= 0;}

 /* relational operators between Strings object and a quoted character string.
    Note that the operators could just as easily return bool, rather than int */

   int operator==(char *s) {return !strcmp(p, s);}
   int operator!=(char *s) {return strcmp(p, s);}
   int operator<(char *s) {return strcmp(p, s) < 0;}
   int operator>(char *s) {return strcmp(p, s) > 0;}
   int operator<=(char *s) {return strcmp(p, s) <= 0;}
   int operator>=(char *s) {return strcmp(p, s) >= 0;}

   int strsize(void) {return strlen(p);}      // return string size
   void makestr(char *s) {strcpy(s, p);}  // make quoted string from Strings object

   operator char *(void) {return p;}          // conversion to char
 };

Strings::Strings(void)
 {
   size = 1;
   p = new char[size];
   if(!p)
    {
      cout << "Allocation error!" << endl;
      exit(1);
    }
   *p = '/0';
 }

Strings::Strings(char *str)
 {
   size = strlen(str) + 1;
   p = new char[size];
   if(!p)
    {
      cout << "Allocation error!" << endl;
      exit(1);
    }
   strcpy(p, str);
 }

Strings::Strings(const Strings &obj)
 {
   size = obj.size;
   p = new char[size];
   if(!p)
    {
      cout << "Allocation error!" << endl;
      exit(1);
    }
   strcpy(p, obj.p);
 }

ostream &operator<<(ostream &stream, Strings &obj)
 {
   stream << obj.p;
   return stream;
 }

istream &operator>>(istream &stream, Strings &obj)
 {
   char t[255];      // arbitrary string length--yours can be larger
   int len;

   for(len=0; len<255; len++)
    {
      stream.get(t[len]);
      if(t[len]=='/n')
         break;
      if(t[len]=='/b')
         if(len)
          {
            len--;
            cout << "'/b'";
          }
    }
   t[len]='/0';
   len++;

   if(len>obj.size)
    {
      delete obj.p;
      obj.p = new char[len];
      if(!obj.p)
       {
         cout << "Allocation error!" << endl;
         exit(1);
       }
      obj.size = len;
    }
   strcpy(obj.p, t);
   return stream;
 }

Strings Strings::operator=(Strings &obj)
  {
   Strings temp(obj.p);

   if(obj.size > size)
    {
      delete p;
      p = new char[obj.size];
      size = obj.size;
      if(!p)
       {
         cout << "Allocation error!" << endl;
         exit(1);
       }
    }
   strcpy(p, obj.p);
   strcpy(temp.p, obj.p);
   return temp;
 }

Strings Strings::operator=(char *s)
  {
   int len = strlen(s) + 1;

   if(size < len)
    {
      delete p;
      p = new char[len];
      size = len;
      if(!p)
       {
         cout << "Allocation error!" << endl;
         exit(1);
       }
    }
   strcpy(p, s);
   return *this;
 }

Strings Strings::operator+(Strings &obj)
 {
   int len;
   Strings temp;

   delete temp.p;
   len = strlen(obj.p) + strlen(p) + 1;
   temp.p = new char[len];
   temp.size = len;
   if(!temp.p)
    {
      cout << "Allocation error!" << endl;
      exit(1);
    }
   strcpy(temp.p, p);
   strcat(temp.p, obj.p);
   return temp;
 }

Strings Strings::operator+(char *s)
 {
   int len;
   Strings temp;

   delete temp.p;
   len = strlen(s) + strlen(p) + 1;
   temp.p = new char[len];
   temp.size = len;
   if(!temp.p)
    {
      cout << "Allocation error!" << endl;
      exit(1);
    }
   strcpy(temp.p, p);
   strcat(temp.p, s);
   return temp;
 }

Strings operator+(char *s, Strings &obj)
 {
   int len;
   Strings temp;

   delete temp.p;
   len = strlen(s) + strlen(obj.p) + 1;
   temp.p = new char[len];
   temp.size = len;
   if(!temp.p)
    {
      cout << "Allocation error!" << endl;
      exit(1);
    }
   strcpy(temp.p, s);
   strcat(temp.p, obj.p);
   return temp;
 }

Strings Strings::operator-(Strings &substr)
 {
   Strings temp(p);
   char *s1;
   int i,j;

   s1 = p;
   for(i=0; *s1; i++)
    {
      if(*s1!=*substr.p)
       {
         temp.p[i] = *s1;
         s1++;
       }
      else
       {
         for(j=0; substr.p[j]==s1[j] && substr.p[j]; j++)
            ;
         if(!substr.p[j])
          {
            s1 += j;
            i--;
          }
         else
          {
            temp.p[i] = *s1;
            s1++;
          }
       }
    }
    temp.p[i] = '/0';
    return temp;
 }

Strings Strings::operator-(char *substr)
 {
   Strings temp(p);
   char *s1;
   int i,j;

   s1 = p;
   for(i=0; *s1; i++)
    {
      if(*s1!=*substr)
       {
         temp.p[i] = *s1;
         s1++;
       }
      else
       {
         for(j=0; substr[j]==s1[j] && substr[j]; j++)
            ;
         if(!substr[j])
          {
            s1 += j;
            i--;
          }
         else
          {
            temp.p[i] = *s1;
            s1++;
          }
       }
    }
    temp.p[i] = '/0';
    return temp;
 }

 void main(void)
  {
   Strings s1("A sample program which uses string objects./n");
   Strings s2(s1);
   Strings s3;
   char s[80];

   cout << s1 << s2;
   s3 = s1;
   cout << s3;
   s3.makestr(s);
   cout << "Converted to a string: " << s;

   s2 = "This is a new string.";
   cout << s2 << endl;

   Strings s4("This is a new string, too.");
   s1 = s2 + s4;
   cout << s1 << endl;

   if(s2==s3)
      cout << "Strings are equal." << endl;
   if(s2!=s3)
      cout << "Strings are not equal." << endl;
   if(s1<s4)
      cout << "s1 is less than s4." << endl;
   if(s1>s4)
      cout << "s1 is greater than s4." << endl;
   if(s1<=s4)
      cout << "s1 is less than or equal to s4." << endl;
   if(s1>s4)
      cout << "s1 is greater than or equal to s4." << endl;

   if(s2 > "ABC")
      cout << "s2 is greater than 'ABC'" << endl << endl;

   s1 = "one two three one two three/n";
   s2 = "two";
   cout << "Initial string: " << s1;
   cout << "String after subtracting two: ";
   s3 = s1 - s2;
   cout << s3;

   cout << endl;
   s4 = "Jamsa's C/C++ ";
   s3 = s4 + "Programmer's Bible/n";
   cout << s3;
   s3 = s3 - "C/C++";
   s3 = "This is " + s3;
   cout << s3;

   cout << "Enter a string: ";
   cin >> s1;
   cout << s1 << endl;
   cout << "s1 is " << s1.strsize() << " characters long." << endl;
   puts(s1);

   s1 = s2 = s3;
   cout << s1 << s2 << s3;
   s1 = s2 = s3 = "Program finished./n";
   cout << s1 << s2 << s3;
 }

 

 

 

 


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} )
06-09
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 <boost/thread/shared_mutex.hpp> #include "third_party/apollo/proto/perception/perception_obstacle.pb.h" #include "t3_perception.pb.h" #include <ixwebsocket/IXWebSocket.h> using namespace ix; 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); // create a WebSocket connection WebSocket websocket; websocket.setTLSOptions({}); // use default options websocket.setOnMessageCallback([](const WebSocketMessagePtr& msg) { std::cout << "Received message: " << msg->str << std::endl; }); websocket.setOnCloseCallback([](WebSocket& ws, const WebSocketCloseInfo& info) { std::cout << "WebSocket closed: " << info.reason << std::endl; }); websocket.setOnErrorCallback([](const std::error_code& ec) { std::cout << "Error: " << ec << ", error message: " << ec.message() << std::endl; }); websocket.connect("wss://autopilot-test.t3go.cn:443/api/v1/vehicle/push/message/LFB1FV696M2L43840"); websocket.send(serialized_data); websocket.close(); } 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CmakeLists.txt中添加以下依赖: ``` find_package(ixwebsocket REQUIRED) target_link_libraries(${PROJECT_NAME}_node ixwebsocket) ``` 注意,你需要安装ixwebsocket库以使用WebSocket功能。
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