我们要在板子上测试其图像处理能力，要使用一个image_buf的类型进行cache，iamge_buf是一个image的vector。这里，我们直接自己定义一个image类型，然后生成对应的消息类型，并根据这个image，再生成image_buf。
自定义第一个消息类型my_imgdata
1. 建立自定义消息类型package
cd ~/catkin_ws/src/
catkin_creat_pkg imgdata_msg
cd imgdata_msg/
mkdir msg
2. 输入消息格式到消息文件，这里图像数据格式参考：http://blog.csdn.net/redskydeng/article/details/49362155
echo "uint8[] data" >> msg/my_imgdata.msg
echo "string actor_time" >> msg/my_imgdata.msg
3. 在imgdata_msg的CMakeLists.txt文件中添加如下语句
find_package(catkin REQUIRED COMPONENTS message_generation roscpp std_msgs)
4. 取消 add_message_files 的相关注释，并添加为如下：
add_message_files（FILES my_imgdata.msg )
5. 取消generate_messages的相关注释，并添加修改为如下：
generate_messages（DEPENDENCIES std_msgs ）
6. 在catkin_package中添加：CATKIN_DEPENDS message_runtime
7. 在imgdata_msg的.xml文件中添加：//indigo用的是run_depend，为Kinetic用的是exec_depend
<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>
8. cd ~/catkin_ws/ && catkin_make -DCATKIN_WHITELIST_PACKAGES="imgdata_msg"
9. source devel/setup.bash
10. 至此第一个自定义的消息定义完成，你可以用rosmsg(在indigo上是rostopic)查看完整的消息定义
rosmsg show imgdata_msg/my_imgdata
下面建立第二个消息类型Img_buf，该消息会使用之前我们自定义的消息类型my_imgdata
1. cd ~/catkin_ws/src/imgdata_msg/
2. 输入消息格式到消息文件
echo "std_msgs/Header header" >> msg/Img_buf.msg
echo "imgdata_msg/my_imgdata[] buf" >> msg/Img_buf.msg
3. 在建立第一个消息的基础上，在 add_message_files 添加如下红色部分：add_message_files（FILES my_imgdata.msg Img_buf.msg )
4. cd ~/catkin_ws/ && catkin_make -DCATKIN_WHITELIST_PACKAGES="imgdata_msg"
5 source devel/setup.bash
6 至此第一个自定义的消息定义完成，你可以用rosmsg show imgdata_msg/Img_buf 查看完整的消息定义
使用自定义的消息类型：
在使用该消息的工程中添加如下头文件即可，同时要把devel/include目录下的imgdata_msg整体复制到使用该消息的include目录下
#include <imgdata_msg/Img_buf.h>
该头文件是系统在建立自定义消息类型时候自动生成的。
这次实践，自己定义了一个消息类型my_imgdata，里面包含一个数组（或者说是vector）和一个string，然后又针对my_imgdata封装了一个新的消息类型Img_buf，里面包含了一个my_imgdata的数组（或者说是vector）。虽然这次实践的内容看来可能没有实际意义，（定义一个消息类型，又定义一个该消息类型的vetor作为一个新的消息类型）但是我们的最终目标是根据别人提供的任何消息类型，进行二次封装（目的是为了实现缓存），往里面再添加一些其他的成员，如时间、长度等信息，然后就可以利用ros提供的序列化和反序列化，这样就可以不考虑别人提供的数据（这部分数据也有序列化和反序列化）。
这里给出我们这次写出来的测试程序：
#include <memory>
#include <vector>
#include <algorithm>
#include <string>
#include <pthread.h>
#include <map>
#include <fstream>
#include <iostream>
#include <sys/stat.h>
#include <sys/types.h>
#include <sys/time.h>
#include "zlib.h"
#include "LRUCache.hpp"
#include "imgdata_msg/Img_buf.h"
#include "imgdata_msg/my_imgdata.h"
#define MAX_BUF 100
#define STORE_PATH "/home/oldking/Msg-File/"
using std::string;
using std::vector;
imgdata_msg::Img_buf w_buf;
pthread_mutex_t buf_lock;
lru::Cache<std::string, imgdata_msg::Img_buf> cache(5,0);//first param is cache size
unsigned long ReadFromFile(std::string file_name, unsigned char*& data)
{
std::ifstream rs(file_name.c_str(), std::ios::binary);
rs.seekg(0, std::ios_base::end);
unsigned long length = rs.tellg();
rs.seekg(0, std::ios_base::beg);
data = new unsigned char[length];
rs.read((char*)data, length);
rs.close();
return length;
}
int ForceWrite()
{
mode_t mode = 0755;
mkdir(STORE_PATH, mode);
size_t serial_size = ros::serialization::serializationLength(w_buf);
boost::shared_array<uint8_t> buffer(new uint8_t[serial_size]);
ros::serialization::OStream stream(buffer.get(), serial_size);
ros::serialization::serialize(stream, w_buf);
unsigned char* write = buffer.get();
uLong comprLen = compressBound(serial_size);
Byte *compr = new Byte[comprLen];
int err;
err = compress(compr, &comprLen, (const Bytef*)write, serial_size);
if(err != Z_OK)
{
printf("compress write file failed !\n");
return 1;
}
std::string file_name = STORE_PATH + w_buf.write_buffer[0].actor_time;
printf("file_name : %s\n", file_name.c_str());
//std::ofstream rs(file_name.c_str(), std::ios::binary);
//rs.write((const char*)compr, comprLen);
//rs.close();
FILE* file;
if((file = fopen(file_name.c_str(), "wb")) == NULL)
{
printf("cannot create %s!\n", file_name.c_str());
return -1;
}
uLong flen = serial_size;
fwrite(&flen, sizeof(uLong), 1, file);
fwrite(&comprLen, sizeof(uLong), 1, file);
fwrite(compr, sizeof(unsigned char), comprLen, file);
fclose(file);
delete[] compr;
//Initialize vector
w_buf.write_buffer.clear();
//w_buf.num = 0;
return 0;
}
int InsertToBuffer(imgdata_msg::my_imgdata &Msg)
{
if(w_buf.write_buffer.size() < MAX_BUF)
{
pthread_mutex_lock(&buf_lock);
w_buf.write_buffer.push_back(Msg);
//w_buf.num += 1;//我们没有这个变量
pthread_mutex_unlock(&buf_lock);
if(w_buf.write_buffer.size() == MAX_BUF)
ForceWrite();
}
else
{
ForceWrite();
pthread_mutex_lock(&buf_lock);
w_buf.write_buffer.push_back(Msg);
// w_buf.num += 1;
pthread_mutex_unlock(&buf_lock);
}
return 0;
}
int MsgStore(imgdata_msg::my_imgdata &Msg)
{
InsertToBuffer(Msg);
return 0;
}
int BufRead(string file_name, vector<imgdata_msg::my_imgdata> &MsgVec)
{
imgdata_msg::Img_buf data;
if(cache.contains(file_name))
{
data = cache.get(file_name);
}
else
{
uLong flen;
unsigned char* fbuf = NULL;
uLong ulen;
unsigned char* ubuf = NULL;
FILE *file;
if((file = fopen(file_name.c_str(), "rb")) == NULL)
{
printf("Can\'t open %s!\n", file_name.c_str());
return -1;
}
fread(&ulen, sizeof(uLong), 1, file);
fread(&flen, sizeof(uLong), 1, file);
if((fbuf = (unsigned char*)malloc(sizeof(unsigned char) * flen)) == NULL)
{
printf("No enough memory!\n");
fclose(file);
return -1;
}
fread(fbuf, sizeof(unsigned char), flen, file);
if((ubuf = (unsigned char*)malloc(sizeof(unsigned char) * ulen)) == NULL)
{
printf("No enough memory!\n");
fclose(file);
return -1;
}
if(uncompress(ubuf, &ulen, fbuf, flen) != Z_OK)
{
printf("Uncompress failed!\n");
return -1;
}
fclose(file);
ros::serialization::IStream stream((uint8_t*)ubuf, ulen);
ros::serialization::Serializer<imgdata_msg::Img_buf>::read(stream, data);
cache.insert(file_name, data);
delete[] ubuf;
delete[] fbuf;
}
long i;
for(i=0;i<data.write_buffer.size();i++)
MsgVec.push_back(data.write_buffer[i]);
return 0;
}
int main()
{
long i;
std::string actor_time = "201803";
timeval write_time_start,write_time_end;
gettimeofday(&write_time_start, NULL);
for(i=0;i<1000;i++)
{
imgdata_msg::my_imgdata tmp;
/*tmp.uav_pose.position.x=i+0.4;
tmp.uav_pose.position.y=i+0.6;
tmp.uav_pose.position.z=i+0.3;
tmp.uav_pose.orientation.x=i+0.9;
tmp.uav_pose.orientation.y=i+0.2;
tmp.uav_pose.orientation.z=i+0.4;
tmp.uav_pose.orientation.w=i+0.2;
tmp.sensor_pose.position.x=i+0.4;
tmp.sensor_pose.position.y=i+0.6;
tmp.sensor_pose.position.z=i+0.3;
tmp.sensor_pose.orientation.x=i+0.9;
tmp.sensor_pose.orientation.y=i+0.2;
tmp.sensor_pose.orientation.z=i+0.4;
tmp.sensor_pose.orientation.w=i+0.2;*/
tmp.actor_time = actor_time + std::to_string(i);
/*
tmp.sensor_msg.header.seq=1;
tmp.sensor_msg.header.stamp.sec=1;
tmp.sensor_msg.header.stamp.nsec=1;
tmp.sensor_msg.status.status=1;
tmp.sensor_msg.status.service=2;
tmp.sensor_msg.latitude=1.0;
tmp.sensor_msg.longitude=2.0;
*/
int a;
long j;
for(j=0;j<30000;j++)
{
//tmp.data[j]=100;
a=100;
tmp.data.push_back(a);
}
//tmp.sensor_msg.position_covariance_type=0;
MsgStore(tmp);//write into file
}
gettimeofday(&write_time_end, NULL);
long write_time = 1000000 * ( write_time_end.tv_sec - write_time_start.tv_sec ) + write_time_end.tv_usec - write_time_start.tv_usec;
printf("write_time : %ld\n", write_time);
/*
long read_time = 0;
timeval read_time_start;
timeval read_time_end;
std::vector<imgdata_msg::my_imgdata> result;
gettimeofday(&read_time_start, NULL);
BufRead("/home/olding/Msg-File/201803100", result);
gettimeofday(&read_time_end, NULL);
read_time = 1000000 * ( read_time_end.tv_sec - read_time_start.tv_sec ) + read_time_end.tv_usec - read_time_start.tv_usec;
printf("read_time : %ld\n", read_time);
result.clear();
gettimeofday(&read_time_start, NULL);
BufRead("/home/oldking/Msg-File/201803100", result);
gettimeofday(&read_time_end, NULL);
read_time = 1000000 * ( read_time_end.tv_sec - read_time_start.tv_sec ) + read_time_end.tv_usec - read_time_start.tv_usec;
printf("read_time : %ld\n", read_time);
*/
return 0;
}
参考：http://blog.csdn.net/u011906844/article/details/72156215
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