可以将string中的内容进行定点替换。这样string可以写成模板,将变量位置写成自定义变量名,具体使用时,对变量名进行查找与替换。
https://blog.csdn.net/LM_18391680291/article/details/89286639
例:
static const int32_t MULT_JOINTSTATE_ = 1000000;
static const std::string JOINT_STATE_REPLACE("{{JOINT_STATE_REPLACE}}");
static const std::string SERVO_J_REPLACE("{{SERVO_J_REPLACE}}");
static const std::string SERVER_IP_REPLACE("{{SERVER_IP_REPLACE}}");
static const std::string SERVER_PORT_REPLACE("{{SERVER_PORT_REPLACE}}");
static const std::string POSITION_PROGRAM = R"(
def driverProg():
MULT_jointstate = {{JOINT_STATE_REPLACE}}
SERVO_IDLE = 0
SERVO_RUNNING = 1
cmd_servo_state = SERVO_IDLE
cmd_servo_q = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
def set_servo_setpoint(q):
enter_critical
cmd_servo_state = SERVO_RUNNING
cmd_servo_q = q
exit_critical
end
thread servoThread():
state = SERVO_IDLE
while True:
enter_critical
q = cmd_servo_q
do_brake = False
if (state == SERVO_RUNNING) and (cmd_servo_state == SERVO_IDLE):
do_brake = True
end
state = cmd_servo_state
cmd_servo_state = SERVO_IDLE
exit_critical
if do_brake:
stopj(1.0)
sync()
elif state == SERVO_RUNNING:
servoj(q, {{SERVO_J_REPLACE}})
else:
sync()
end
end
end
socket_open("{{SERVER_IP_REPLACE}}", {{SERVER_PORT_REPLACE}})
thread_servo = run servoThread()
keepalive = 1
while keepalive > 0:
params_mult = socket_read_binary_integer(6+1)
if params_mult[0] > 0:
q = [params_mult[1] / MULT_jointstate, params_mult[2] / MULT_jointstate, params_mult[3] / MULT_jointstate, params_mult[4] / MULT_jointstate, params_mult[5] / MULT_jointstate, params_mult[6] / MULT_jointstate]
keepalive = params_mult[7]
set_servo_setpoint(q)
end
end
sleep(.1)
socket_close()
kill thread_servo
end
)";
std::string res(POSITION_PROGRAM);
res.replace(res.find(JOINT_STATE_REPLACE), JOINT_STATE_REPLACE.length(), std::to_string(MULT_JOINTSTATE_));
std::ostringstream out;
out << "t=" << std::fixed << std::setprecision(4) << servoj_time_;
if (version_3)
out << ", lookahead_time=" << servoj_lookahead_time_ << ", gain=" << servoj_gain_;
res.replace(res.find(SERVO_J_REPLACE), SERVO_J_REPLACE.length(), out.str());
res.replace(res.find(SERVER_IP_REPLACE), SERVER_IP_REPLACE.length(), reverse_ip);
res.replace(res.find(SERVER_PORT_REPLACE), SERVER_PORT_REPLACE.length(), std::to_string(reverse_port));