【笔记】学习笔记合集

C++

1.获取时间戳

1.chrono

#include <chrono> 
auto time = chrono::system_clock::now(); // 获取代码结束时的时间戳

计算时间差
CString runTime;
runTime.Format(_T("%d"), chrono::duration_cast<chrono::microseconds>(finish - start) / 1000);

2.SYSTEMTIME

       CString strTime;
		SYSTEMTIME   systime;
		GetLocalTime(&systime);
		strTime.Format("%02d:%02d:%02d:%03d", systime.wHour, systime.wMinute, systime.wSecond, systime.wMilliseconds);

2.数据写入TXT

#include <fstream>

FILE *file;
file = fopen("send.txt", "a");
fprintf(file, "%s\t 0x%08x\t", currTime, ID);
fclose(file);

3.十六进制与十进制转换

a.一位十六进制转换为十进制

int HexChar(char c)
{
	if((c>='0') && (c<='9'))
		return c-0x30;
	else if((c>='A') && (c<='F'))
		return c-'A'+10;
	else if((c>='a') && (c<='f'))
		return c-'a'+10;
	else
		return 0x10;
}

b.两位十六进制数转换为十进制

int Str2Hex(CString str)
{	
	int len = str.GetLength();
	if(len == 2)
	{
		int a= HexChar(str[0]);
		int b =HexChar(str[1]);
		if(a==16 || b==16 )
		{
			AfxMessageBox("Format error");
			return 256;
		}
		else
		{
			return a*16+b;
			
		}
		
	}
	else
	{
		AfxMessageBox("input length must be 2");
		return 256;
	}
}

c.将int整数分割到数组

       int i=?;
        char data[32];
		sprintf(data, "%016X", i);
		std::string out;
		int d = 7;
		for (char c : data)
		{
			out += c;
			if (out.size() == 2)
			{
				CString str5 = out.c_str();
				if (d >= 0)
					sendbuf->Data[d] = Str2Hex(str5);
				d--;
				out.clear();
			}
		}

4.数据类型转换

a.CString -> float、int

CString str;
str.Format(_T("%3.1f%%"), xxx); 

CString str=“1234”;
int num = _ttoi(str);

b.Byte与int ,double 转

https://blog.csdn.net/sunnyfans/article/details/8286906

1.Byte与int
    uint8_t ary[4] = { 176,4,0,0 };
	int value;
	//低位在前，高位在后
	value = (int)((ary[0] & 0xFF)
		| ((ary[1] << 8) & 0xFF00)
		| ((ary[2] << 16) & 0xFF0000)
		| ((ary[3] << 24) & 0xFF000000));

	std::cout << value << std::endl;
	
2.Byte与double
        uint8_t lat[8] = {0};
        memcpy(lat, canMsg.Data, canMsg.DataLength);
        memcpy(&gpsInfo.lat, lat, sizeof(double));

5.多线程

#include <thread>

        std::thread CAN1Thread(&CDemoCANDlg::CAN1sendDataThread_, this, 0, begin1, num1, id1);
		std::thread CAN2Thread(&CDemoCANDlg::CAN2sendDataThread_, this, 1, begin2, num2 ,id2);

		CAN1Thread.join();
		CAN2Thread.join();

//类中开启最好用detach脱离主线程
std::thread CAN1Thread(&CDemoCANDlg::CAN1sendDataThread_, this ）;
CAN1Thread.detach();     

https://blog.csdn.net/weixin_39603908/article/details/110453554

6.队列 deque

#include <deque>
std::deque<  [ struct ]>  Can1MsgQueue;

7.函数返回vector

1.头文件中声明一个vector
std::vector<int> spivec;
2.声明一个函数用于外部获取返回
std::vector<int> test(int i);
3.类中给 retvec赋值并返回
std::vector<int> SPI::test(int i)
{
    for(int j=0; j<i ;j++)
       spivec.push_back(j);
    return spivec;  
}
4.外部函数调用
    SPI spi;
    std::vector<int > tvec=spi.test(100);
    std::cout<<"tvec.size()="<<tvec.size()<<std::endl;

QT

安装QT

sudo apt-get install qt5-default qt5-qmake g++ qtcreator

生成可执行文件

在pro文件中加入
QMAKE_LFLAGS += -no-pie

查看可执行文件依赖及其路径：
ldd [可执行文件名]

数据类型转换

QString & string

1.QString转换String
string s = qstr.toStdString();
2.String转换QString
QString qstr2 = QString::fromStdString(s);

选指定目录下的文件

        QDir dir( path);
        //QDir dir(QDir::currentPath());//当前文件路径
        QString filtername = "*.bin";
        QStringList filter;
        filter << filtername;
        dir.setNameFilters(filter);
        QStringList Neuronindex = dir.entryList();
        for(int i=0;i< Neuronindex.size();i++)
            qDebug()<<Neuronindex.at(i);
        qDebug()<<QString::number(Neuronindex.size());

QString split() & mid()

QStringList strList=str.split(“/”);

QString str;
str.mid(开始，取的长度);

QString compare

QString::compare(“ab”,“ab”); //值为0；

QT-ROS

1.寻找qtcreator路径

2.打开： sudo gedit org.qt-project.qtcreator.desktop
3.修改： Exec=bash -c “source /opt/ros/melodic/setup.bash;qtcreator”

QT文件操作

判断文件是否存在并创建

QSring   logPath="/home/xx"
void MainWindow::logCreated()
{

    logPath+="/log";
    QDir dirlog(logPath);
    if(!dirlog.exists())
    {
       dirlog.mkdir(logPath);
       qDebug()<<"log 文件夹创建成功";
    }
    logPath+= "/"+QDateTime::currentDateTime().toString("yyyy-MM-dd");
    qDebug()<<"logPath="<<logPath;
    QDir dir(logPath);
    if(!dir.exists())
    {
       dir.mkdir(logPath);
       qDebug()<<QDateTime::currentDateTime().toString("yyyy-MM-dd")<<"文件夹创建成功";
    }
}

按行读取文件数据

 QFile file(strPath+"/upList.txt");
    if (!file.open(QIODevice::ReadOnly | QIODevice::Text)){
            return 0;
    }else{
        while(!file.atEnd()){
            QByteArray line = file.readLine();
            QString str(line);
            upList<<str.mid(0,str.size()-1);
         }
        QFile::remove(strPath+"/upList.txt");
    }

写入文件数据

void MainWindow::logInfo(QString logName,QString strInfo)
{
    QDateTime dt = QDateTime::currentDateTime();
    QString strPath=logPath+"/"+logName+".log";
    // 文件位置
    QFile file(strPath);
    if(!file.open(QIODevice::WriteOnly | QIODevice::Text | QIODevice::Append)){
        return;
    }
    // 文件流
    QTextStream stream(&file);
    // 输入内容
    stream << dt.toString("yyyy-MM-dd-hh-mm-ss")<<" : "<<strInfo<<"\n";
    file.close();
}

ROS

1.安装ros

https://blog.csdn.net/qq_44830040/article/details/106049992?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522166856803416800192241710%2522%252C%2522scm%2522%253A%252220140713.130102334…%2522%257D&request_id=166856803416800192241710&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2_alltop_positive~default-1-106049992-null-null.142^v63control_1,201^v3add_ask,213^v2t3_esquery_v3&utm_term=ubuntu18.04%E5%AE%89%E8%A3%85ros&spm=1018.2226.3001.4187

2. 创建一个ros工作空间

https://blog.csdn.net/xx970829/article/details/123160267
1. 创建一个工作空间：

//创建工作空间
mkdir -p ~/catkin_ws/src 
//初始化
cd ~/catkin_ws/src
catkin_init_workspace 
//编译
cd ~/catkin_ws/
catkin_make

//添加环境变量
source devel/setup.bash 

2. 创建一个工功能包：

cd ~/catkin_ws/src
// 功能包命名为：my_first_cpp
catkin_create_pkg [name]  std_msgs rospy roscpp

3.配置节点

//如果没有其他依赖，只需修改biuld
//找到 “Declare a C++ executable”
//将“add_executable（）”的注释取消
add_executable(${PROJECT_NAME}_node src/my_first_cpp_node.cpp)

//将“add_dependencies（）”的注释取消
add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

//将“target_link_libraries（）”的注释取消
target_link_libraries(${PROJECT_NAME}_node
   ${catkin_LIBRARIES}
 )

 //然后编译
 catkin_make


//假设其节点名为“other_node”
add_executable(other_node src/other_node.cpp )
target_link_libraries(other_node  ${catkin_LIBRARIES}   )

3.订阅、发布节点

std_msgs

发布

#include "ros/ros.h"
#include "std_msgs/String.h"

1.sheng ming
    ros::NodeHandle n;
    ros::Publisher CAN1_pub;
     str_pub = n.advertise<std_msgs::String>("/strMsg",100);
2. 
        std_msgs::String strMsg;
        strMsg.data="xxxxxx";
        str_pub.publish(strMsg);

订阅

ros::NodeHandle n;
ros::Subscriber sub;
sub = n.subscribe<std_msgs::String>("/strMsg", 10, subCallback);
void subCallback(const std_msgs::String::ConstPtr& msg);

sub_mm = n.subscribe<std_msgs::String>("/mmvMsg", 10, &mmv_Analyst::subCallback,this);

4.ROS参数

https://blog.csdn.net/Kalenee/article/details/85019830

1.cpp
bool boolLight;
ros::param::get("/boolLight", boolLight);
ros::param::set("lightState", true);
2.roslaunch param
 <rosparam file="$(find perception)/config/Param.yaml" command="load" />
 cpp:
        n.param<float>("perceptionParam/timeCycle", timeCycle, 0.04);
        n.param<float>("perceptionParam/cycleThr", cycleThr, 3);
        n.param<vector<float>>("perceptionParam/camTriggerDisVec", camTriggerDisVec, vector<float> {30, 20, 15, 10, 7, 5, 3});


3.wai bu she zhi 
   openLight  ->  rosparam set /openLight true
   closeLight ->  rosparam set /openLight false

5.roslaunch

<launch>
   <rosparam file="$(find perception)/config/Param.yaml" command="load" />
   <--  node调用方式为：<node pkg="功能包名" type="可执行文件名" name="重定义名"/-->
     <node name="CAN_analyst" pkg="perception" type="CAN_analyst"  output="screen"/>
     <node name="mmv_analyst" pkg="perception" type="mmv_analyst"  output="screen"/>
  
</launch>

Ubuntu

1.安装cmake

sudo apt-get install cmake

sudo apt-get install cmake-curses-gui

sudo apt-get install cmake-qt-gui

2.cmake安装、卸载软件

mkdir build 
cd build
cmake ..
make -j16
sudo make install 
//指定目录
sudo make install DESTDIR=/usr/local/vtk1.7
//卸载
方1.sudo make uninstall
方2.sudo  xargs rm < install_manifest.txt
方3.sudo rm -r [文件夹名]

3. json

安装

方1：nlohmann/json
https://download.csdn.net/download/xx970829/87174406

#include "json.hpp"
using json = nlohmann::json;

方2：
sudo apt-get install libjsoncpp-dev
#include <jsoncpp/json/json.h>

CMakeLists.txt配置

1.build后面加入
set(JSON_INCLUDE_DIR ${CMAKE_CURRENT_LIST_DIR}/../thirdParty/json)

2.include_directories中加入
${JSON_INCLUDE_DIR}

用法

https://blog.csdn.net/fuhanghang/article/details/115305968

1.数据赋值
       json canMsgJson;
        canMsgJson["fdcanx"]=currentCanMsg.fdcanx;
        canMsgJson["DataLength"]=currentCanMsg.DataLength;
        canMsgJson["IdType"]=currentCanMsg.IdType;
        canMsgJson["Rsvd"]=currentCanMsg.Rsvd;
        canMsgJson["Id"]=currentCanMsg.Id;
        canMsgJson["Data"]=currentCanMsg.Data;
2. json转字符串      
std_msgs::String strMsg;
strMsg.data=canMsgJson.dump();

3. 字符串转转json
json canMsgJson=json::parse(msg->data.c_str());
    canMsgJson.at("fdcanx").get_to(canMsg.fdcanx);
    canMsgJson.at("DataLength").get_to(canMsg.DataLength);
    canMsgJson.at("IdType").get_to(canMsg.IdType);
    canMsgJson.at("Rsvd").get_to(canMsg.Rsvd);
    canMsgJson.at("Id").get_to(canMsg.Id);
    canMsgJson.at("Data").get_to(canMsg.Data);

4.查找软件路径

whereis [软件名]

5.复制、移动、查找、删除文件

查找
sudo find / -name libQVTKWidgetPlugin.so动态链接库的路径
复制
sudo cp -a [原文件路径+文件名] [目标文件路径]
移动
sudo mv [原文件路径+文件名] [目标文件路径]
删除
sudo rm -r [文件夹名]

6.root

进入root : su root
更新root密码： sudo passwd root

7. home扩容

https://blog.csdn.net/w20178556/article/details/120575904

8.bash脚本

#!/bin/bash
gnome-terminal -- bash -c 'source /opt/ros/melodic/setup.bash && roscore'&
gnome-terminal -- bash -c 'source /home/xx/catkin_ws/devel/setup.bash && rosrun mmw mmw_node'&
gnome-terminal -- bash -c 'source /home/xx/catkin_ws/devel/setup.bash && rosrun control ctrl_node'&

vim

o -> 光标下面插入行
i -> 光标处开始编辑
esc -> 退出编辑
：wq！ -> 强制保存退出

https://blog.csdn.net/weixin_44368437/article/details/126173588

重启网络

sudo nmcli networking off
sudo nmcli networking on

VScode

1.安装vscode

https://code.visualstudio.com/Download
https://blog.csdn.net/qq_40660130/article/details/116229710#:~:text=ubuntu%20%E4%B8%8B%20%E5%AE%89%E8%A3%85VS%20Code%20%E5%AE%89%E8%A3%85%20%E8%BF%87%E7%A8%8B%201.%E4%B8%8B%E8%BD%BD%20VS,%EF%BC%9A%20sudo%20dpkg%20-i%20code_1.37.0-1565227985_amd64.deb%20%E7%84%B6%E5%90%8E%E7%AD%89%E5%BE%85%20%E5%AE%89%E8%A3%85%20%E5%AE%8C%E6%88%90%E3%80%82


sudo  dpkg  -i code_1.68.1-1655262036_arm64.deb 

解决国内下载慢的问题：
将下载链接中的“https://az764295.vo.msecnd.net”改为“https://vscode.cdn.azure.cn”
复制原下载链接

如:https://az764295.vo.msecnd.net/stable/b3e4e68a0bc097f0ae7907b217c1119af9e03435/code_1.78.2-1683731010_amd64.deb
改为：https://vscode.cdn.azure.cn/stable/b3e4e68a0bc097f0ae7907b217c1119af9e03435/code_1.78.2-1683731010_amd64.deb

2.Astyle

1.sudo apt  install astyle
2.vscode 插件
3.插件setting
    "astyle.cmd_options": [
        "--style=google", //风格格式和缩进
        "--indent=spaces=4", //缩进4个空格
        "--convert-tabs",
        "--align-pointer=name",
        "--align-reference=name",
        "--keep-one-line-statements",
        "--pad-header",
        "--pad-oper", //操作符两端插入一个空格
    ],
    "astyle.additional_languages": [
        
        "c",
        "cpp",
    ],
    "[cpp]": {
        "editor.defaultFormatter": "chiehyu.vscode-astyle"
    }

MFC

1.MessageBox

1.常见用法
MessageBox(“open Dev failed”);

2.显示字符串
MessageBox(str, “输入的内容是”, MB_OK);

3.选择判断

int x = MessageBox("xxxxxxxxxxx, "标题", MB_ICONQUESTION | MB_YESNO);
if(x==7){
...
}
elas{
...}

4. MFC中
   AfxMessageBox(“send error\n”);

2.线程

1.声明
typedef struct MyParam
{
	//VCI_CAN_OBJ sendbuf_[1];
	BYTE	Data[8];
	UINT	ID;
	int canIndex;
	CString currTime;
	int runTime = 0;
	int num = 0;
	float sleep=0;
	std::chrono::time_point<std::chrono::system_clock> clockTime;
	
}param;
static UINT  newThread(void *param);

2.
AfxBeginThread(newThread, (void*)&Param, THREAD_PRIORITY_TIME_CRITICAL, 0);

PCL

打开、保存PCD

pcl::io::savePCDFileASCII("allCloud.pcd", *cloud);


pcl::PointCloud<pcl::PointXYZRGB>::Ptr newCloud (new pcl::PointCloud<pcl::PointXYZRGB>);
    if (pcl::io::loadPCDFile("allCloud.pcd", *newCloud) < 0)
    {
        qDebug()<<"点云文件不存在！";
        return ;
    }

pcl_viewer

sudo apt-get install pcl-tools

类型转换

1.转指针
cloud.meakShared()

python

1.读取、显示图像

img = cv2.imread(“./data/3.jpg”)

cv2.imshow(“img”, img)
cv2.waitKey(0)

2.数组与图像互转

数组转图像

img_array=np.array(img)

图像转数组
img_thresh = Image.fromarray(np.uint8(th_array))

from PIL import Image
img_thresh =np.asanyarray(th_array,dtype=np.uint8)

3.BGR、LAB互转

BGR2LAB
img_lab= cv2.cvtColor(img,cv2.COLOR_BGR2LAB)

LAB2BGR
img_bgr= cv2.cvtColor(img,cv2.COLOR_LAB2BGR)

4.通道分割、合并

分割
L,A,B=cv2.split(img_lab)
合并
img_lab=cv2.merge([L,A,B])

5.灰度化、阈值分割

img_gray= cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
img_blurred = cv2.GaussianBlur(img_gray, (3, 3), 0)
img_thresh = cv2.threshold(img_blurred, 200, 255, cv2.THRESH_BINARY)[1]

6.腐蚀、膨胀

img_thresh = cv2.erode(img_thresh, None, iterations=3)
img_thresh = cv2.dilate(img_thresh, None, iterations=3)