#include <stdio.h> struct condition { int obj1; // 用于存储输入的第一个字母- 'A'的值 int obj2; // 存储第二个字母的 int num; // 存储数字 int ret; // 是否是 = } condition[20]; int judge(int *a, int n) { int i = 0; int ret = 1; // 判断传入的值班日期与输入的条件是否符合。 for (i = 0; i < n; i++) { // 如果是 = ，就判断值班日期和条件日期-1是否相等 .（值班日期是从0开始算的） if (condition[i].ret) { if (a[condition[i].obj1] != condition[i].num - 1) ret = 0; break; } else if (a[condition[i].obj1] + condition[i].num != a[condition[i].obj2]) { ret = 0; break; } } return ret; }

#include

#include #include struct DATA { int ID; char name[4]; char sex[3]; int score; }; void paixu(int*,DATA*,int); int sishewuru(double); void func1(int*,int*,DATA*,int*,int,int,int,int);//统计男女比例 int func2(int*,int,DATA*);//查找考生序号 void print(); void main() { int length=0,i,yiben,erben,sanben,dazhuan,male[4],female[4]; int yi,er,san,si; char input; FILE* file=fopen("f1.txt","r"),*file1; if(file==NULL) { printf("No such file!\n"); return; } while(EOF!=fscanf(file,"%*[^\n]\n")) length++;//自动计算考生数罝ATA* data=(DATA*)malloc(length*sizeof(DATA)); int* pai=(int*)malloc(length*sizeof(int)); rewind(file); for(i=0;i='0'&&input<='4')) { printf("非法输入，请重新输入\n请输入："); fflush(stdin); } else break; } getchar(); switch(input) { case '0': printf("\n一类本科招生线：%d\n二类本科招生线：%d\三类本科招生线：%d\\n高职高专招生线：%d\n",yi,er,san,si); printf("是否打印为文件？(y/n):"); if(getchar()=='y') { file1=fopen("各批次录取分数线.txt","w"); fprintf(file1,"一类本科招生线：%d\n二类本科招生线：%d\\n三类本科招生线：%d\n高职高专招生线：%d\n",yi,er,san,si); fclose(file1); } fflush(stdin); break; case '1': func1(male,female,data,pai,yiben,erben,sanben,dazhuan); printf("一类本科招生线男女比例：%d:%d\n",male[0],female[0]); printf("二类本科招生线男女比例：%d:%d\n",male[1],female[1]); printf("三类本科招生线男女比例：%d:%d\n",male[2],female[2]); printf("高职高专招生线招生线男女比例：%d:%d\n",male[3],female[3]); printf("是否打印为文件？(y/n):"); if(getchar()=='y') { file1=fopen("各批次录取男女比例.txt","w"); fprintf(file1,"一类本科招生线男女比例：%d:%d\n",male[0],female[0]);

pcf8563_i2c1_r8_ruoge_ov2640通过给RTC驱动增加设备节点读取秒钟成功+直接读取I2C1获取秒钟值20160626_2201.7z

#include <stdio.h> #include <linux/types.h> #include <fcntl.h> #include <unistd.h> #include <stdlib.h> #include <sys/types.h> #include <sys/ioctl.h> #include <errno.h> #include <assert.h> #...

#include "lvgl/lvgl.h" #include "lvgl/demos/lv_demos.h" #include <unistd.h> #include #include <time.h> #include <stdio.h> #include <stdlib.h> struct node { char path[1024]; struct node next; struct node prev; }; static const char * getenv_default(const char * name, const char * dflt) { return getenv(name) ?: dflt; } #if LV_USE_LINUX_FBDEV static void lv_linux_disp_init(void) { const char * device = getenv_default("LV_LINUX_FBDEV_DEVICE", "/dev/fb0"); lv_display_t * disp = lv_linux_fbdev_create(); lv_linux_fbdev_set_file(disp, device); } #elif LV_USE_LINUX_DRM static void lv_linux_disp_init(void) { const char * device = getenv_default("LV_LINUX_DRM_CARD", "/dev/dri/card0"); lv_display_t * disp = lv_linux_drm_create(); lv_linux_drm_set_file(disp, device, -1); } #elif LV_USE_SDL static void lv_linux_disp_init(void) { const int width = atoi(getenv("LV_SDL_VIDEO_WIDTH") ?: "800"); const int height = atoi(getenv("LV_SDL_VIDEO_HEIGHT") ?: "480"); lv_sdl_window_create(width, height); } #else #error Unsupported configuration #endif lv_obj_t btn; lv_obj_t btn1; lv_obj_t btn2; lv_obj_t btn3; static lv_obj_t current_img = NULL; struct node pos = NULL; struct node * up_showpic(){ lv_obj_t img1 = lv_image_create(lv_screen_active()); pos = pos -> prev; char path[1024]; char ch = 'A'; sprintf(path,"%c:%s",ch,pos->path); lv_image_set_src(img1,path); return pos; } struct node down_showpic(){ lv_obj_t img1 = lv_image_create(lv_screen_active()); pos = pos -> next; char path[1024]; char ch = 'A'; sprintf(path,"%c:%s",ch,pos->path); lv_image_set_src(img1,path); return pos; } static void button_cb(lv_event_t e){ void obj = lv_event_get_target(e); printf("按钮被点击%p\n",obj); if(btn == obj){ printf("往上切换图片\n"); pos = up_showpic(); } else if(btn1 == obj){ printf("往下切换图片\n"); pos = down_showpic(); } else if(btn2 == obj){ lv_obj_t img1 = lv_image_create(lv_screen_active()); char path[4096]; char ch = 'A'; sprintf(path,"%c:%s",ch,pos->path); printf("放大图片\n"); lv_image_set_scale(img1,512); } else if(btn3 == obj){ printf("缩小图片\n"); } }改成这样，放大图片不会段错误了。但是没有反应

<think>好的，我现在需要解决用户提供的代码中图片放大功能无效的问题。用户已经修改了代码，避免了段错误，但放大操作没有反应。我需要逐步分析可能的原因。首先，用户提到使用lv_image_set_scale函数来放大图片...

/------------------------------------------------------ 【程序改错】 -------------------------------------------------------- 功能：下题是一段有关结构体变量传递的程序. ------------------------------------------------------/ #include <stdio.h> struct student { int x; char c; } a; “f”(struct student b) { b.x=20; /FOUND/ b.c='y'; // printf("%d,%c",b.x,b.c); } main() { a.x=3; /FOUND/ a.c='a'// “f”(a); /FOUND/ printf("%d,%c",a.x,a.c); // }

<think>好的，我现在需要帮助用户解决C语言结构体变量传递的程序错误。用户提到的问题是关于结构体变量传递的，特别是f函数参数定义的错误定位与修正。让我仔细想想应该怎么处理这个问题。首先，用户提到了结构体...

#include <jansson.h> #include <stdio.h> #include <stdlib.h> #include <string.h> #define MAX_ECU 10 typedef struct { char ddd[16]; } ECU; typedef struct { char zhushini[16]; char qusi[16]; } Nishizhu; typedef struct { char sourceaddress[5]; char target_ip[16]; char local_ip[16]; char target_port[6]; ECU ecu[MAX_ECU]; Nishizhu nishizhu; } TCPSetting; typedef struct { TCPSetting tcp_setting; } Config; int main() { // 初始化结构体 Config config; memset(&config, 0, sizeof(Config)); strcpy(config.tcp_setting.sourceaddress, "abcd"); strcpy(config.tcp_setting.target_ip, "192.168.1.100"); strcpy(config.tcp_setting.local_ip, "192.168.1.200"); strcpy(config.tcp_setting.target_port, "12345"); strcpy(config.tcp_setting.ecu[0].ddd, "ecu1"); strcpy(config.tcp_setting.ecu[1].ddd, "ecu2"); strcpy(config.tcp_setting.nishizhu.zhushini, "zhushini"); strcpy(config.tcp_setting.nishizhu.qusi, "qusi"); // 将结构体转成json json_t root = json_object(); json_t tcp_setting = json_object(); json_object_set_new(root, "tcp_setting", tcp_setting); json_object_set_new(tcp_setting, "sourceaddress", json_string(config.tcp_setting.sourceaddress)); json_object_set_new(tcp_setting, "target_ip", json_string(config.tcp_setting.target_ip)); json_object_set_new(tcp_setting, "local_ip", json_string(config.tcp_setting.local_ip)); json_object_set_new(tcp_setting, "target_port", json_string(config.tcp_setting.target_port)); json_t ecu = json_array(); for (int i = 0; i < MAX_ECU; ++i) { json_t ecu_obj = json_object(); json_object_set_new(ecu_obj, "ddd", json_string(config.tcp_setting.ecu[i].ddd)); json_array_append_new(ecu, ecu_obj); } json_object_set_new(tcp_setting, "ecu", ecu); json_t nishizhu = json_object(); json_object_set_new(nishizhu, "zhushini", json_string(config.tcp_setting.nishizhu.zhushini)); json_object_set_new(nishizhu, "qusi", json_string(config.tcp_setting.nishizhu.qusi)); json_object_set_new(tcp_setting, "nishizhu", nishizhu); // 保存成json文件 FILE fp = fopen("config.json", "w"); if (fp == NULL) { printf("Failed to open file\n"); exit(1); } json_dumpf(root, fp, JSON_INDENT(4)); fclose(fp); // 释放内存 json_decref(root); return 0; } 运行上面的代码保持的json文件中不包含ecu参数的内容

#include <stdio.h> #include <stdlib.h> #include <string.h> #define MAX_ECU 10 typedef struct { char ddd[16]; } ECU; typedef struct { char zhushini[16]; char qusi[16]; } Nishizhu; typedef struct...

#include <stdio.h> // 假设 lv_obj_t 是一个结构体或类型 typedef struct { int value; } lv_obj_t; int main() { lv_obj_t obj1 = {10}; lv_obj_t obj2 = {20}; lv_obj_t obj3 = {30}; // 一级指针数组 lv_obj_t* push_cal[6] = {&obj1, &obj2, &obj3, NULL, NULL, NULL}; // 二级指针 lv_obj_t** temp_ptr = NULL; // 将 temp_ptr 指向 push_cal temp_ptr = push_cal; // 通过 temp_ptr 访问 push_cal 数组中的元素 for (int i = 0; i < 6; i++) { if (temp_ptr[i] != NULL) { printf("push_cal[%d] -> value = %d\n", i, temp_ptr[i]->value); } else { printf("push_cal[%d] is NULL\n", i); } } return 0; }分析代码错误的地方

#include <stdio.h> int main() { int a = 10, b = 20; int *arr[2] = {&a, &b}; int **p = arr; printf("%d\n", p[2]); // 越界访问 return 0; } #### 错误分析： 1. **数组越界** p[2]试图访问数组...

请为我接下来的代码做出思路讲解#include <stdio.h> struct condition { int obj1; int obj2; int num; int ret; } condition[20]; int judge(int a, int n) { int i = 0; int ret = 1; for (i = 0; i < n; i++) { if (condition[i].ret) { if (a[condition[i].obj1] != condition[i].num - 1) ret = 0; break; } else if (a[condition[i].obj1] + condition[i].num != a[condition[i].obj2]) { ret = 0; break; } } return ret; } int main(void) { int n; scanf("%d\n", &n); for (int i = 0; i < n; i++) { char s[5]; gets(s); condition[i].obj1 = s[0] - 'A'; if (s[1] != '=') { condition[i].obj2 = s[2] - 'A'; condition[i].num = s[3] - '0'; condition[i].ret = 0; } else { condition[i].num = s[2] - '0'; condition[i].ret = 1; } if (s[1] == '<') { condition[i].num = -1; } } int day[7]; for (int a = 0; a < 7; a++) { for (int b = 0; b < 7; b++) { for (int c = 0; c < 7; c++) { for (int d = 0; d < 7; d++) { for (int e = 0; e < 7; e++) { for (int f = 0; f < 7; f++) { for (int g = 0; g < 7; g++) { day[0] = a; day[1] = b; day[2] = c; day[3] = d; day[4] = e; day[5] = f; day[6] = g; if (judge(day, n)) goto E; } } } } } } } E: if (judge(day, n)) { char Day[8]; for (int i = 0; i < 7; i++) { Day[day[i]] = i + 'A'; } Day[7] = '\0'; puts(Day); } return 0; }

这段代码主要是一个用于解决日期问题的程序，通过一些约束条件来确定一周7天中每天的日期是多少。首先，定义了一个结构体condition，其中包含了obj1，obj2，num和ret四个成员变量。obj1和obj2代表了...

#include <stdio.h> #include <stdlib.h> // 双向链表节点 typedef struct DLinkedNode { int key; int value; struct DLinkedNode* prev; struct DLinkedNode* next; } DLinkedNode; // 哈希表节点（用于处理冲突） typedef struct HashNode { int key; DLinkedNode* cacheNode; struct HashNode* next; } HashNode; // LRU缓存结构体 typedef struct { int capacity; int size; DLinkedNode* head; // 哨兵头节点 DLinkedNode* tail; // 哨兵尾节点 HashNode** hashTable; // 哈希表数组 int hashSize; // 哈希表大小 } LRUCache; // 创建LRU缓存 LRUCache* lRUCacheCreate(int capacity) { LRUCache* cache = (LRUCache)malloc(sizeof(LRUCache)); cache->capacity = capacity; cache->size = 0; // 初始化双向链表 cache->head = (DLinkedNode)malloc(sizeof(DLinkedNode)); cache->tail = (DLinkedNode)malloc(sizeof(DLinkedNode)); cache->head->prev = NULL; cache->head->next = cache->tail; cache->tail->prev = cache->head; cache->tail->next = NULL; // 初始化哈希表 cache->hashSize = capacity 2; // 简化处理哈希表大小 cache->hashTable = (HashNode**)calloc(cache->hashSize, sizeof(HashNode)); return cache; } // 哈希表辅助函数 DLinkedNode findInHashTable(LRUCache* obj, int key) { int idx = key % obj->hashSize; HashNode* entry = obj->hashTable[idx]; while (entry != NULL) { if (entry->key == key) { return entry->cacheNode; } entry = entry->next; } return NULL; } void insertIntoHashTable(LRUCache* obj, int key, DLinkedNode* node) { int idx = key % obj->hashSize; HashNode* newEntry = (HashNode)malloc(sizeof(HashNode)); newEntry->key = key; newEntry->cacheNode = node; newEntry->next = obj->hashTable[idx]; obj->hashTable[idx] = newEntry; } void removeFromHashTable(LRUCache obj, int key) { int idx = key % obj->hashSize; HashNode* curr = obj->hashTable[idx]; HashNode* prev = NULL; while (curr != NULL) { if (curr->key == key) { if (prev == NULL) { obj->hashTable[idx] = curr->next; } else { prev->next = curr->next; } free(curr); return; } prev = curr; curr = curr->next; } } // 链表操作辅助函数 void moveToHead(LRUCache* obj, DLinkedNode* node) { // 断开原链接 node->prev->next = node->next; node->next->prev = node->prev; // 插入头部 node->prev = obj->head; node->next = obj->head->next; obj->head->next->prev = node; obj->head->next = node; } void addToHead(LRUCache* obj, DLinkedNode* node) { node->prev = obj->head; node->next = obj->head->next; obj->head->next->prev = node; obj->head->next = node; } DLinkedNode* removeTail(LRUCache* obj) { DLinkedNode* node = obj->tail->prev; node->prev->next = obj->tail; obj->tail->prev = node->prev; return node; } // 获取缓存值 int lRUCacheGet(LRUCache* obj, int key) { DLinkedNode* node = findInHashTable(obj, key); if (node == NULL) return -1; moveToHead(obj, node); // 更新为最近使用 return node->value; } // 插入缓存值 void lRUCachePut(LRUCache* obj, int key, int value) { DLinkedNode* node = findInHashTable(obj, key); if (node != NULL) { // 存在则更新 node->value = value; moveToHead(obj, node); } else { // 不存在则新建 DLinkedNode* newNode = (DLinkedNode)malloc(sizeof(DLinkedNode)); newNode->key = key; newNode->value = value; insertIntoHashTable(obj, key, newNode); addToHead(obj, newNode); obj->size++; // 超过容量则淘汰尾部 if (obj->size > obj->capacity) { DLinkedNode tailNode = removeTail(obj); removeFromHashTable(obj, tailNode->key); free(tailNode); obj->size--; } } } // 释放缓存 void lRUCacheFree(LRUCache* obj) { // 释放链表节点 DLinkedNode* curr = obj->head->next; while (curr != obj->tail) { DLinkedNode* tmp = curr; curr = curr->next; free(tmp); } free(obj->head); free(obj->tail); // 释放哈希表 for (int i = 0; i < obj->hashSize; i++) { HashNode* entry = obj->hashTable[i]; while (entry != NULL) { HashNode* tmp = entry; entry = entry->next; free(tmp); } } free(obj->hashTable); free(obj); }给出这段代码的完整形式，包括头文件，输出输出，输入输出要求可以在控制台自由控制，并给出代码详细的注释

比如，当用户输入“put 1 a”时，第二个参数应该是整数，但这里输入了字母a，程序应该提示错误。这可以通过检查sscanf的返回值来判断是否成功转换参数。然后，关于代码注释，用户要求详细的注释，所以需要在添加的...

#include<stdio.h> #include<string.h> #include<stdlib.h> #include<ctype.h> #include<openssl/hmac.h> char signature_calculate(char json_obj, char key){ unsigned char key_byte = (unsigned char )key; char sorted_json = to_url_query(json_obj); unsigned char dataddd = (unsigned char )sorted_json; unsigned char signature = HMAC(EVP_sha256(), key_byte, strlen(key), dataddd, strlen(dataddd), NULL, NULL); char hex_signature = malloc(2 EVP_MAX_MD_SIZE + 1); for(int i=0; i<EVP_MAX_MD_SIZE; i++) { sprintf(&hex_signature[i2], "%02x", signature[i]); } return hex_signature; } typedef struct { char key[256]; char value[256]; } KeyValue; int compare(const void a, const void b) { return strcmp(((KeyValue)a)->key, ((KeyValue)b)->key); } char sort_dict(KeyValue array, int size) { // 对KeyValue数组按ASCII码升序排序 qsort(array, size, sizeof(KeyValue), compare); char query_list = malloc(size 256); int len=0; for(int i=0; i<size; i++) { if(strlen(array[i].value)==0){ // 如果值为空或者空字符串则不拼接 continue; } char key = array[i].key; char value = array[i].value; if(isalpha(value[0]) && isalnum(value[1]) && strcmp(value, "true")!=0 && strcmp(value, "false")!=0) { sprintf(&query_list[len], "%s=%s&", key, value); } else { sprintf(&query_list[len], "%s="%s"&", key, value); } len = strlen(query_list); } if(len>0) { query_list[len-1] = 0; } return query_list; } char to_url_query(char json, char prefix){ // 将json字符串转换为URL键值对形式的字符串 int len = strlen(json); KeyValue array = malloc(len * sizeof(KeyValue)); int i=0; int j=0; int level=0; char key; // 处理嵌套字典的键名 while(i<len){ if(json[i]=='{' || json[i]=='['){ level++; i++; } else if(json[i]=='}' || json[i]==']'){ level--; i++; } else if(json[i]==','){ array[j].value[i-array[j].key] = 0; i++; j++; } else if(json[i]==':'){ key = array[j].key; array[j].value[0] = 0; i++; } else if(json[i]=='"' && level%2==0){ i++; int k=0; while(json[i]!='"') { array[j].value[k] = json[i]; i++; k++; } array[j].value[k] = 0; i++; } else if(json[i]!=',' && json[i]!=':' && json[i]!=' '){ array[j].key[i-j] = json[i]; i++; } else { i++; } } array[j].value[i-array[j].key] = 0; j++; char sorted_json = sort_dict(array, j); char *query_list = malloc(strlen(sorted_json)+1); if(strlen(prefix)>0){ sprintf(query_list, "%s.%s", prefix, sorted_json); } else { strcpy(query_list, sorted_json); } free(array); free(sorted_json); return query_list; } 请对上面的代码添加注释

#include<stdio.h> #include<string.h> #include<stdlib.h> #include<ctype.h> #include<openssl/hmac.h> // 计算签名函数，接收一个JSON字符串和一个密钥字符串，返回一个签名字符串 char *signature_...

/ ************************************************************************************************** * @file main.c * @version V1.0 * @brief LVGL V8无操作系统移植实验 **************************************************************************************************** * @attention Waiken-Smart 慧勤智远 * * 实验平台: STM32F103ZET6小系统板 * **************************************************************************************************** / #include "./SYSTEM/sys/sys.h" #include "./SYSTEM/usart/usart.h" #include "./SYSTEM/delay/delay.h" #include "./USMART/usmart.h" #include "./BSP/LED/led.h" #include "./BSP/LCD/lcd.h" #include "./BSP/KEY/key.h" #include "./BSP/TOUCH/touch.h" #include "./MALLOC/malloc.h" #include "./BSP/TIMER/btim.h" #include "lvgl.h" #include "lv_port_indev_template.h" #include "lv_port_disp_template.h" #include "stdlib.h" #include "time.h" #include "stm32f1xx_hal.h" #include <stdio.h> static int32_t slider_value = 0; //滑块数值--升降台高度 static int32_t arc_value = 0; //圆弧数值--LED亮度 static int32_t c=0; static int32_t b=0; unsigned int gaodu; //高度变量 uint8_t send[2] = {0,0}; //串口发送 static lv_obj_t label; static lv_obj_t label1; static lv_obj_t label_s; static lv_obj_t label_t; static lv_obj_t label_t_1; //升降 static lv_obj_t btn_s; static lv_obj_t btn; static lv_obj_t btn1; static lv_obj_t btn2; static lv_obj_t msgbox; static lv_obj_t msgbox1; static lv_obj_t msgbox2; static lv_obj_t msgbox3; static lv_obj_t title; static lv_obj_t title1; static lv_obj_t title2; static lv_obj_t title3; static const char btn5[]={"Counite",""}; static const char btn6[]={"Counite",""}; static const char btn7[]={"Counite",""}; static const char btn8[]={"Counite",""}; LV_IMG_DECLARE (gaohaoguang); LV_IMG_DECLARE (weixia); LV_IMG_DECLARE (shengjiangtai); LV_IMG_DECLARE (daideng); //static lv_obj_t led; //static lv_obj_t switch2; //static lv_obj_t spinner; //static lv_obj_t list; //static lv_obj_t checkbox; //static lv_obj_t dd; //static lv_obj_t roller; //static lv_obj_t bar; //static lv_obj_t spinbox; //static lv_point_t line_points[]={{150,50},{250,200},{50,200},{150,50}}; //static const char map[]={"#ff0000 btn1#","\n","btn2","btn3",""}; //static const char btns[]={"continue","close",""}; UART_HandleTypeDef huart1; void HAL_UART_TxCpltCallback(UART_HandleTypeDef huart) { if(huart == &huart1) { printf("arc_value"); send[0] = (int)slider_value; send[1] = (int)arc_value; // send[1] += 5; HAL_UART_Transmit_IT(&huart1,send,2); } } int i,n,m,p; uint16_t Num; static void my_event_cb(lv_event_t * e) //回调函数 { lv_obj_t a=lv_event_get_target(e); if(a==btn) { n=1; } if(a==btn1) {n=0; p=3;} if(p==3){ if(c==1){p=0;lv_label_set_text_fmt (label_s,"Prize: %d ",c);} // lv_obj_clear_flag(msgbox, LV_OBJ_FLAG_HIDDEN); if(c==2){p=0;lv_label_set_text_fmt (label_s,"Prize: %d ",c);} // lv_obj_clear_flag(msgbox1, LV_OBJ_FLAG_HIDDEN); if(c==3){p=0;lv_label_set_text_fmt (label_s,"Prize: %d ",c);} // lv_obj_clear_flag(msgbox2, LV_OBJ_FLAG_HIDDEN); if(c==4){p=0;lv_label_set_text_fmt (label_s,"No");}} // lv_obj_clear_flag(msgbox3, LV_OBJ_FLAG_HIDDEN); } //滑块事件回调------------------------------------------------------------------------------------------- static void slider_event_cb(lv_event_t e) { lv_event_code_t code = lv_event_get_code(e); if (code != LV_EVENT_VALUE_CHANGED) return; lv_obj_t slider = lv_event_get_target(e); slider_value = lv_slider_get_value(slider); // 更新全局变量 lv_label_set_text_fmt(label_t, "high: %d", slider_value); } //圆弧事件回调------------------------------------------------------------------------------------------- static void arc_event_cb(lv_event_t e) { lv_obj_t target = lv_event_get_target(e); arc_value = lv_arc_get_value(target); } int main(void) { HAL_Init(); / 初始化HAL库 / sys_stm32_clock_init(RCC_PLL_MUL9); / 设置时钟, 72Mhz / delay_init(72); / 延时初始化 / usart_init(115200); / 串口初始化为115200 / usmart_dev.init(72); / 初始化USMART / led_init(); / 初始化LED / lcd_init(); / 初始化LCD / key_init(); / 初始化按键 / my_mem_init(SRAMIN); / 初始化内部SRAM内存池 / tp_dev.init(); / 触摸屏初始化 / btim_timx_int_init(10-1,7200-1); / 初始化定时器 / lv_init(); / lvgl系统初始化 / lv_port_disp_init(); / lvgl显示接口初始化,放在lv_init()的后面 / lv_port_indev_init(); / lvgl输入接口初始化,放在lv_init()的后面 / //串口------------------------------------------------------------------------------------------ HAL_UART_Transmit_IT(&huart1,send,2); //背景板------------------------------------------------------------------------------------------ // label_t = lv_label_create(lv_scr_act ()); //图片-------------------------------------------------------------------------------------------- lv_obj_t img = lv_img_create(lv_scr_act()); lv_img_set_src (img,&gaohaoguang); lv_obj_set_pos (img,15,195); lv_obj_t img1 = lv_img_create(lv_scr_act()); lv_img_set_src (img1,&weixia); lv_obj_set_pos (img1,315,171); lv_obj_t img2 = lv_img_create(lv_scr_act()); lv_img_set_src (img2,&shengjiangtai); lv_obj_set_pos (img2,26,60); lv_obj_t img3 = lv_img_create(lv_scr_act()); lv_img_set_src (img3,&daideng); lv_obj_set_pos (img3,197,160); //滑块-------------------------------------------------------------------------------------------- lv_obj_t slider = lv_slider_create(lv_scr_act()); lv_obj_set_pos(slider,25,-85); lv_obj_set_size(slider,330,30); lv_slider_set_value(slider,0,LV_ANIM_OFF); lv_slider_set_range(slider,0,100); lv_obj_add_event_cb(slider,slider_event_cb,LV_EVENT_VALUE_CHANGED,NULL); // 设置轨道背景色 lv_obj_set_style_bg_color(slider, lv_color_hex(0x808080), LV_PART_MAIN); // 设置指示器颜色 lv_obj_set_style_bg_color(slider, lv_color_hex(0x0000FF), LV_PART_INDICATOR); // 设置旋钮颜色和尺寸 lv_obj_set_style_bg_color(slider, lv_color_hex(0x00ffff), LV_PART_KNOB); lv_obj_set_style_pad_all(slider, 8, LV_PART_KNOB); // 旋钮大小 lv_obj_set_align(slider,LV_ALIGN_CENTER); // 数值显示 label_t = lv_label_create(lv_scr_act()); lv_obj_set_align(label_t, LV_ALIGN_TOP_RIGHT); char text_buffer[20]; // 定义足够大的字符数组存储转换后的字符串 sprintf(text_buffer, "%d", slider_value); // 将整数转换为字符串 lv_label_set_text(label_t, text_buffer); // 传递字符串指针 lv_obj_set_style_text_font(label_t, &lv_font_montserrat_48, 0); // lv_obj_set_style_text_color(label_t_1, lv_color_hex(0x0fff0f), 0); //圆弧-------------------------------------------------------------------------------------------- lv_obj_t arc = lv_arc_create(lv_scr_act()); / 设置圆弧尺寸 / lv_obj_set_size(arc, 174, 174); // 宽度和高度均为 200px / 调整圆弧线条粗细 / lv_obj_set_style_arc_width(arc, 20, LV_PART_MAIN); // 背景线条粗细 lv_obj_set_style_arc_width(arc, 20, LV_PART_INDICATOR); // 前景线条粗细 / 设置位置和范围 / lv_obj_set_pos(arc, 151, 110); // 调整位置（根据新尺寸可能需要重新定位） lv_arc_set_range(arc, 0, 100); // 值范围 0~100 / 绑定事件 / lv_obj_add_event_cb(arc, arc_event_cb, LV_EVENT_VALUE_CHANGED, NULL); // ///////////////////////////////////////////////////////////////////////////////////////////////////////// //拓展内容 1. 实体按键输入 while(1) { srand(Num); // send[0] = slider_value; // send[1] = arc_value; HAL_UART_Transmit_IT(&huart1, send, 2); HAL_Delay(10); // 示例：10ms发送一次 // if(n==1){i=rand()%50+1;} // lv_label_set_text_fmt (label_t," %d ",i); tp_dev.scan(0); / 触摸扫描 */ lv_task_handler(); Num+=7; if(i>=1&&i<=3){m=1;c=m;lv_label_set_text_fmt (label_s,"Prize: %d ",c);} if(i>=4&&i<10||i>35&&i<40){m=2;c=m;lv_label_set_text_fmt (label_s,"Prize: %d ",c);} if(i>=15&&i<=20||i>45&&i<=50){m=3;c=m;lv_label_set_text_fmt (label_s,"Prize: %d ",c);} if(i>=10&&i<15||i>=40&&i<=45||i>=26&&i<=35||i>20&&i<=25){m=4;c=m;lv_label_set_text_fmt (label_s,"No");} } } 我如何把这两个数据发给电脑send[0] = (int)slider_value; send[1] = (int)arc_value;

<think>嗯，用户想通过STM32的UART将滑块和圆弧的数值发送到电脑。首先，我需要确认他们使用的具体硬件和开发环境，比如是HAL库还是标准库。不过用户可能没有提到这些细节，所以得给出通用的步骤。首先，配置UART...

fatal error: json-c/json.h: No such file or directory | #include <json-c/json.h>报错，请问我应该怎么解决，请详细解答，并举例子

#include <stdio.h> #include <json-c/json.h> int main() { struct json_object *obj = json_object_new_object(); json_object_object_add(obj, "name", json_object_new_string("John")); json_object_object...

#include <ros/ros.h> #include <image_transport/image_transport.h> #include <cv_bridge/cv_bridge.h> #include <sensor_msgs/image_encodings.h> #include <opencv2/imgproc/imgproc.hpp> #include <opencv2/highgui/highgui.hpp> #include <stdio.h> #include <stdlib.h> #include "opencv2/opencv.hpp" #include <moveit/move_group_interface/move_group_interface.h> #include <tf/transform_listener.h> #include <moveit/planning_scene_interface/planning_scene_interface.h> #include <moveit/robot_trajectory/robot_trajectory.h> #include "myself_pkg/uart.h" #include <sys/stat.h> #include <cmath> #include <xarm_driver.h> #include <thread> // 引入线程库 #include <atomic> static const std::string OPENCV_WINDOW = "Image window"; #define M_PI 3.14159265358979323846 tf::Vector3 obj_camera_frame1, obj_robot_frame; int flag_start=1; ros::Subscriber rgb_sub; // 相机内参 double fx = 953.4568; // x轴方向的焦距 double fy = 949.837; // y轴方向的焦距 double cx = 658.66659; // x轴方向的光学中心 double cy = 366.82704; // y轴方向的光学中心 // 物体高度 double objectHeight = 0.34432666; // 假设物体的高度为1米 double k1 = 0.133507; // double k2 =-0.213178; // double p1 = 0.006242; // double p2 = 0.005494; // /* double fx = 1084.54479; // x轴方向的焦距 double fy = 950.11576; // y轴方向的焦距 double cx = 642.85519; // x轴方向的光学中心 double cy = 354.52482; // y轴方向的光学中心 // 物体高度 double objectHeight = 0.34432666; // 假设物体的高度为1米 double k1 = 0.141430; // double k2 =-0.384089; // double p1 = 0.003167; // double p2 = 0.002440; // */ cv::Mat K = (cv::Mat_<double>(3, 3) << fx, 0, cx, 0, fy, cy, 0, 0, 1); // 构造畸变参数向量 cv::Mat distCoeffs = (cv::Mat_<double>(5, 1) << k1, k2, p1, p2, 0); // 待校正的像素坐标 cv::Point2d pixelPoint(640, 360); // 假设像素坐标为(320, 240) cv::Mat cameraPointMat = (cv::Mat_<double>(3, 1) << 0, 0,0); /** // 定义一个结构体表示四元数，用于三维空间中的旋转表示 struct Quaternion { double w; // 四元数的实部 double x; // 四元数的虚部 x double y; // 四元数的虚部 y double z; // 四元数的虚部 z }; Quaternion eulerToQuaternion(double roll, double pitch, double yaw) { // 计算半角 double cy = cos(yaw * 0.5); double sy = sin(yaw * 0.5); double cp = cos(pitch * 0.5); double sp = sin(pitch * 0.5); double cr = cos(roll * 0.5); double sr = sin(roll * 0.5); Quaternion q; // 根据欧拉角到四元数的转换公式计算四元数的实部 q.w = cr * cp * cy + sr * sp * sy; // 根据欧拉角到四元数的转换公式计算四元数的虚部 x q.x = sr * cp * cy - cr * sp * sy; // 根据欧拉角到四元数的转换公式计算四元数的虚部 y q.y = cr * sp * cy + sr * cp * sy; // 根据欧拉角到四元数的转换公式计算四元数的虚部 z q.z = cr * cp * sy - sr * sp * cy; return q; } */ int move_lineb_test(xarm_msgs::Move srv, ros::ServiceClient client, float x_mm0, float y_mm0, float z_mm0, double roll0, double pitch0, double yaw0, float x_mm1, float y_mm1, float z_mm1, double roll1, double pitch1, double yaw1, float x_mm2, float y_mm2, float z_mm2, double roll2, double pitch2, double yaw2, float x_mm3, float y_mm3, float z_mm3, double roll3, double pitch3, double yaw3, float x_mm4, float y_mm4, float z_mm4, double roll4, double pitch4, double yaw4); void control_suction_during_move(float x_mm4, float y_mm4, float z_mm4); // 异步吸盘控制 auto suction_control = [](int speed){ std::thread([speed](){ for(int i=0; i<1; i++){ writeSpeed(speed); std::this_thread::sleep_for(std::chrono::milliseconds(800)); } }).detach(); // 分离线程 }; class XArmAPItest { ros::NodeHandle nh_; image_transport::ImageTransport it_; image_transport::Subscriber image_sub_; tf::TransformListener listener_; tf::StampedTransform camera_to_robot_; public: XArmAPItest() : it_(nh_) { moveit::planning_interface::MoveGroupInterface arm("xarm7"); sleep(0.5); moveit::planning_interface::PlanningSceneInterface planning_scene_interface; sleep(0.5); //异步任务处理器，防阻塞 ros::AsyncSpinner spinner(1); spinner.start(); // 创建一个新的障碍物消息 moveit_msgs::CollisionObject collision_object; collision_object.header.frame_id = "world"; // 设置障碍物的参考坐标系，通常为世界坐标系 // 设置障碍物的 ID collision_object.id = "table"; // 定义障碍物的形状和尺寸 shape_msgs::SolidPrimitive primitive; primitive.type = primitive.BOX; primitive.dimensions.resize(3); primitive.dimensions[0] = 2.0; // 长 primitive.dimensions[1] = 2.0; // 宽 primitive.dimensions[2] = 0.1; // 高 // 定义障碍物的姿态 geometry_msgs::Pose obstacle_pose; obstacle_pose.orientation.w = 1.0; // 默认姿态为单位四元数 obstacle_pose.position.x = 0.0; // x 位置 obstacle_pose.position.y = 0.0; // y 位置 obstacle_pose.position.z = -0.06; // z 位置 // 将障碍物的形状和姿态添加到障碍物消息中 collision_object.primitives.push_back(primitive); collision_object.primitive_poses.push_back(obstacle_pose); // 设置操作类型为添加障碍物 collision_object.operation = collision_object.ADD; // 发送障碍物消息到规划场景 moveit_msgs::PlanningScene planning_scene; planning_scene.world.collision_objects.push_back(collision_object); planning_scene.is_diff = true; planning_scene_interface.applyPlanningScene(planning_scene); // 应用障碍物到规划场景 ROS_INFO("Obstacle added"); /** //回初位置 arm.setNamedTarget("home");//设置目标 arm.move();//执行 sleep(0.5); double targetPose[7] = {-0.166690,0.00000, -0.076904,1.173601, 0.015010,1.21220,-0.260379}; std::vector<double> joint_group_positions(7); joint_group_positions[0] = targetPose[0]; joint_group_positions[1] = targetPose[1]; joint_group_positions[2] = targetPose[2]; joint_group_positions[3] = targetPose[3]; joint_group_positions[4] = targetPose[4]; joint_group_positions[5] = targetPose[5]; joint_group_positions[6] = targetPose[6]; arm.setJointValueTarget(joint_group_positions); arm.move(); sleep(0.5); */ try { listener_.waitForTransform("link_base", "camera_link", ros::Time(0), ros::Duration(50.0)); } catch (tf::TransformException &ex) { ROS_ERROR("[adventure_tf]: (wait) %s", ex.what()); ros::Duration(1.0).sleep(); } try { listener_.lookupTransform("link_base", "camera_link", ros::Time(0), camera_to_robot_); tf::Vector3 translation = camera_to_robot_.getOrigin(); objectHeight=translation.getZ(); std::cout << objectHeight << std::endl; } catch (tf::TransformException &ex) { ROS_ERROR("[adventure_tf]: (lookup) %s", ex.what()); } // 订阅相机图像 image_sub_ = it_.subscribe("/camera/color/image_raw", 1, &XArmAPItest::Cam_RGB_Callback, this); sleep(1); } /** // 封装四元数转欧拉角的函数 std::tuple<double, double, double> quaternionToEuler(const geometry_msgs::Quaternion& q) { double x = q.x; double y = q.y; double z = q.z; double w = q.w; // 计算绕 x 轴旋转的弧度（roll） double sinr_cosp = 2 * (w * x + y * z); double cosr_cosp = 1 - 2 * (x * x + y * y); double roll = std::atan2(sinr_cosp, cosr_cosp); // 计算绕 y 轴旋转的弧度（pitch） double sinp = 2 * (w * y - z * x); double pitch; if (std::abs(sinp) >= 1) pitch = std::copysign(M_PI / 2, sinp); // 使用 90 度避免数值问题 else pitch = std::asin(sinp); // 计算绕 z 轴旋转的弧度（yaw） double siny_cosp = 2 * (w * z + x * y); double cosy_cosp = 1 - 2 * (y * y + z * z); double yaw = std::atan2(siny_cosp, cosy_cosp); return std::make_tuple(roll, pitch, yaw); } / void Grasping(double a, double b, double z, double Angle) { std::cout << "Grasping" << std::endl; // 输出提示信息 moveit::planning_interface::MoveGroupInterface arm("xarm7"); ros::AsyncSpinner spinner(1); spinner.start(); std::string end_effector_link = arm.getEndEffectorLink(); std::string reference_frame = "link_base"; arm.setPoseReferenceFrame(reference_frame); // 声明一个变量用于存储机械臂当前的位姿信息 geometry_msgs::PoseStamped homePose; // 获取机械臂末端执行器当前的位姿并赋值给 homePose 变量 homePose = arm.getCurrentPose(); sleep(1); writeSpeed(1); writeSpeed(1); writeSpeed(1); sleep(0.8); /第1次抓取/ / if(flag_start==1) { //移动到抓取方块上方 flag_start=2; //将初始位姿加入路点列表 //waypoints.push_back(target_pose); geometry_msgs::Pose target_pose; target_pose.position.x = x; target_pose.position.y = y; target_pose.position.z = 0; double roll = 180M_PI/180; // 绕 x 轴旋转的弧度 double pitch = 0; // 绕 y 轴旋转的弧度 double yaw = 0; // 绕 z 轴旋转的弧度 // 将目标姿态的位置坐标从米转换为毫米 float x_mm = static_cast<float>(target_pose.position.x 1000); float y_mm = static_cast<float>(target_pose.position.y * 1000); float z_mm = static_cast<float>(target_pose.position.z * 1000); } / double x = a + 0.0001-0.0041; double y = b + 0.0009+0.0082+0.001; /抓取***/ if(flag_start>=1&&flag_start<35) { //抓取物块 geometry_msgs::Pose target_pose0; target_pose0 = arm.getCurrentPose(end_effector_link).pose; target_pose0.position.z = 0+0.14+0.013; target_pose0.position.x = x; target_pose0.position.y = y; double roll0 = 180M_PI/180; // 绕 x 轴旋转的弧度 double pitch0 =0M_PI/180; // 绕 y 轴旋转的弧度 double yaw0 = 0; // 绕 z 轴旋转的弧度 // 将目标姿态的位置坐标从米转换为毫米 float x_mm0 = static_cast<float>(target_pose0.position.x * 1000); float y_mm0 = static_cast<float>(target_pose0.position.y * 1000); float z_mm0 = static_cast<float>(target_pose0.position.z * 1000); ROS_INFO("zuobiao0: %f, %f, %f", x_mm0, y_mm0, z_mm0); // 定位抓取物块 geometry_msgs::Pose target_pose1; target_pose1 = arm.getCurrentPose(end_effector_link).pose; target_pose1.position.x = x; target_pose1.position.y = y; target_pose1.position.z = 0.09+0.0003+0.01246-0.01; double roll1 = 180M_PI/180; // 绕 x 轴旋转的弧度 double pitch1 =0M_PI/180; // 绕 y 轴旋转的弧度 double yaw1 = 0; // 绕 z 轴旋转的弧度 // 将目标姿态的位置坐标从米转换为毫米 float x_mm1 = static_cast<float>(target_pose1.position.x * 1000); float y_mm1 = static_cast<float>(target_pose1.position.y * 1000); float z_mm1 = static_cast<float>(target_pose1.position.z * 1000); ROS_INFO("zuobiao1: %f, %f, %f", x_mm1, y_mm1, z_mm1); //抓取物块 geometry_msgs::Pose target_pose2; target_pose2 = arm.getCurrentPose(end_effector_link).pose; target_pose2.position.z = 0+0.14+0.013; target_pose2.position.x = x; target_pose2.position.y = y; double roll2 = 180M_PI/180; // 绕 x 轴旋转的弧度 double pitch2 =0M_PI/180; // 绕 y 轴旋转的弧度 double yaw2 = 0; // 绕 z 轴旋转的弧度 // 将目标姿态的位置坐标从米转换为毫米 float x_mm2 = static_cast<float>(target_pose2.position.x * 1000); float y_mm2 = static_cast<float>(target_pose2.position.y * 1000); float z_mm2 = static_cast<float>(target_pose2.position.z * 1000); ROS_INFO("zuobiao2: %f, %f, %f", x_mm2, y_mm2, z_mm2); geometry_msgs::Pose target_pose3; target_pose3 = arm.getCurrentPose(end_effector_link).pose; //放置物块 target_pose3.position.z= 0.14+0.013; double roll3 = 180M_PI/180; // 绕 x 轴旋转的弧度 double pitch3 =0M_PI/180; // 绕 y 轴旋转的弧度 double yaw3 = Angle*M_PI/180; // 绕 z 轴旋转的弧度 /****************************zi色*/ if(flag_start==1){ target_pose3.position.x = 0.38578-0.023+0.002; target_pose3.position.y = 0.217467-0.052;} if(flag_start==2){ target_pose3.position.x = 0.38578+0.06-0.023; target_pose3.position.y = 0.217467+0.02-0.052;} if(flag_start==3){ target_pose3.position.x = 0.38578+0.08-0.023; target_pose3.position.y = 0.217467-0.052;} /**********橙色*/ if(flag_start==4){ target_pose3.position.x = 0.38578+0.01-0.023; target_pose3.position.y = 0.217467+0.052-0.055;} if(flag_start==5){ target_pose3.position.x = 0.38578+0.05-0.023; target_pose3.position.y = 0.217467+0.052-0.055;} if(flag_start==6){ target_pose3.position.x = 0.38578+0.09-0.023; target_pose3.position.y = 0.217467+0.052-0.055;} /*******hong色 */ if(flag_start==7){ target_pose3.position.x = 0.38578-0.023; target_pose3.position.y = 0.217467+0.11-0.055+0.002;} if(flag_start==8){ target_pose3.position.x = 0.38578+0.02-0.023-0.002; target_pose3.position.y = 0.217467+0.11-0.055+0.002;} if(flag_start==9){ target_pose3.position.x = 0.38578+0.04-0.023-0.002; target_pose3.position.y = 0.217467+0.11-0.055;} /**********************huang色*/ if(flag_start==10){ target_pose3.position.x = 0.38578-0.023+0.002; target_pose3.position.y = 0.217467+0.18+-0.05-0.001;} if(flag_start==11){ target_pose3.position.x = 0.38578+0.06-0.023-0.002; target_pose3.position.y = 0.217467+0.16-0.05;} if(flag_start==12){ target_pose3.position.x = 0.38578+0.08-0.023; target_pose3.position.y = 0.217467+0.18-0.05;} if(flag_start==13){ target_pose3.position.x = 0.38578+0.14-0.023-0.001; target_pose3.position.y = 0.217467+0.16-0.05;} /*****hei色* */ if(flag_start==14){ target_pose3.position.x = 0.38578+0.06-0.023; target_pose3.position.y = 0.217467+0.10-0.05;} if(flag_start==15){ target_pose3.position.x = 0.38578+0.08-0.023; target_pose3.position.y = 0.217467+0.14-0.05-0.001;} /***************************zi色* */ if(flag_start==16){ target_pose3.position.x = 0.38578+0.12-0.023-0.001; target_pose3.position.y = 0.217467+0.08-0.0575;} /*********************lan色* / if(flag_start==17){ target_pose3.position.x = 0.38578+0.11-0.023+0.001; target_pose3.position.y = 0.217467+0.12-0.05-0.001; roll3 = 180M_PI/180; // 绕 x 轴旋转的弧度 pitch3 =0M_PI/180; // 绕 y 轴旋转的弧度 yaw3 = AngleM_PI/180 + M_PI/2; // 绕 z 轴旋转的弧度 } if(flag_start==18){ target_pose3.position.x = 0.38578+0.11+0.03-0.02; target_pose3.position.y = 0.217467+0.09-0.05;} if(flag_start==19){ target_pose3.position.x = 0.38578+0.11+0.03+0.04-0.02-0.002; target_pose3.position.y = 0.217467+0.09-0.05+0.001;} if(flag_start==20){ target_pose3.position.x = 0.38578+0.11+0.03+0.04+0.02-0.02-0.02-0.07; target_pose3.position.y = 0.217467+0.09+0.02-0.05+0.002;} /*************************ceng色* */ if(flag_start==21){ target_pose3.position.x = 0.38578+0.15-0.02-0.002; target_pose3.position.y = 0.217467+0.13-0.045-0.002;} /*************lv色 / if(flag_start==22){ target_pose3.position.x = 0.38578+0.12-0.02-0.004; target_pose3.position.y = 0.217467+0.03-0.05;} if(flag_start==23){ target_pose3.position.x = 0.38578+0.16-0.02-0.004-0.0005; target_pose3.position.y = 0.217467+0.03-0.05;} if(flag_start==24){ target_pose3.position.x = 0.38578+0.20-0.02-0.004-0.0005; target_pose3.position.y = 0.217467+0.03-0.05;} if(flag_start==25){ target_pose3.position.x = 0.38578+0.17-0.02-0.004-0.0001; target_pose3.position.y = 0.217467+0.11+0.06-0.05-0.005; roll3 = 180M_PI/180; // 绕 x 轴旋转的弧度 pitch3 =0M_PI/180; // 绕 y 轴旋转的弧度 yaw3 = AngleM_PI/180 - M_PI/2; // 绕 z 轴旋转的弧度 } /*********************huang色 */ if(flag_start==26){ target_pose3.position.x = 0.38578+0.20-0.022; target_pose3.position.y = 0.217467+0.11+0.08-0.05-0.004-0.004;} /*********************hong色 / if(flag_start==27){ target_pose3.position.x = 0.38578+0.17-0.021; target_pose3.position.y = 0.217467-0.05; roll3 = 180M_PI/180; // 绕 x 轴旋转的弧度 pitch3 =0M_PI/180; // 绕 y 轴旋转的弧度 yaw3 = AngleM_PI/180 - M_PI/2; // 绕 z 轴旋转的弧度 } if(flag_start==28){ target_pose3.position.x = 0.38578+0.17-0.021; target_pose3.position.y = 0.217467+0.06-0.05; roll3 = 180M_PI/180; // 绕 x 轴旋转的弧度 pitch3 =0M_PI/180; // 绕 y 轴旋转的弧度 yaw3 = Angle*M_PI/180 - M_PI/2; // 绕 z 轴旋转的弧度 } /***************************hei色* */ if(flag_start==29){ target_pose3.position.x = 0.38578+0.22-0.025+0.002; target_pose3.position.y = 0.217467+0.10+0.04-0.05;} if(flag_start==30){ target_pose3.position.x = 0.38578+0.24-0.025; target_pose3.position.y = 0.217467+0.18-0.05;} /***********************ceng色* */ if(flag_start==31){ target_pose3.position.x = 0.38578+0.23-0.02-0.002-0.0002; target_pose3.position.y = 0.217467+0.07-0.045-0.002-0.002;} /***********************lan色* / if(flag_start==32){ target_pose3.position.x = 0.38578+0.23-0.024; target_pose3.position.y = 0.217467+0.02-0.051-0.0001; roll3 = 180M_PI/180; // 绕 x 轴旋转的弧度 pitch3 =0M_PI/180; // 绕 y 轴旋转的弧度 yaw3 = AngleM_PI/180 + M_PI/2; // 绕 z 轴旋转的弧度 } /***********************zi色* */ if(flag_start==33){ target_pose3.position.x = 0.38578+0.26-0.024; target_pose3.position.y = 0.217467-0.051+0.001;} /***********************lv色* / if(flag_start==34){ target_pose3.position.x = 0.38578+0.25-0.024; target_pose3.position.y = 0.217467+0.10-0.051+0.001; target_pose3.position.z= 0.14+0.013+0.002; roll3 = 180M_PI/180; // 绕 x 轴旋转的弧度 pitch3 =0M_PI/180; // 绕 y 轴旋转的弧度 yaw3 = AngleM_PI/180 - M_PI/2; // 绕 z 轴旋转的弧度 } // 将目标姿态的位置坐标从米转换为毫米 float x_mm3 = static_cast<float>(target_pose3.position.x * 1000); float y_mm3 = static_cast<float>(target_pose3.position.y * 1000); float z_mm3 = static_cast<float>(target_pose3.position.z * 1000); ROS_INFO("zuobiao3: %f, %f, %f", x_mm3, y_mm3, z_mm3); geometry_msgs::Pose target_pose4; target_pose4.position.z= 0.109+0.01236-0.0078+0.005; double roll4 = 180M_PI/180; // 绕 x 轴旋转的弧度 double pitch4 =0M_PI/180; // 绕 y 轴旋转的弧度 double yaw4 = yaw3; // 绕 z 轴旋转的弧度 float x_mm4 = static_cast<float>(target_pose3.position.x * 1000); float y_mm4 = static_cast<float>(target_pose3.position.y * 1000); float z_mm4 = static_cast<float>(target_pose4.position.z * 1000); ROS_INFO("zuobiao4: %f, %f, %f", x_mm4, y_mm4, z_mm4); // 调用 move_lineb_test 函数并传递坐标 ros::NodeHandle nh; ros::ServiceClient move_lineb_client_ = nh.serviceClient<xarm_msgs::Move>("/xarm/move_lineb"); xarm_msgs::Move move_srv_; if(move_lineb_test(move_srv_, move_lineb_client_, x_mm0, y_mm0, z_mm0, roll0, pitch0, yaw0, x_mm1, y_mm1, z_mm1, roll1, pitch1, yaw1, x_mm2, y_mm2, z_mm2, roll2, pitch2, yaw2, x_mm3, y_mm3, z_mm3, roll3, pitch3, yaw3, x_mm4, y_mm4, z_mm4, roll4, pitch4, yaw4) == 1) return; control_suction_during_move(x_mm4, y_mm4, z_mm4); flag_start++; } else {ros::shutdown(); } } void Cam_RGB_Callback(const sensor_msgs::ImageConstPtr &msg)// 摄像头回调函数 { using namespace cv; image_sub_.shutdown(); // 定义一个cv_bridge指针 cv_bridge::CvImagePtr cv_ptr; try { // 将ROS图像转换为OpenCV图像 cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8); } catch (cv_bridge::Exception &e) { ROS_ERROR("cv_bridge exception:%s", e.what()); } // 获取原始图像 Mat imgOriginal = cv_ptr->image; // 定义亮度增强因子 double brightness_scale = 1.8; // 应用亮度增强 Mat brightened; imgOriginal.convertTo(brightened, -1, brightness_scale); // 图像预处理：高斯模糊 Mat blurred; GaussianBlur(brightened, blurred, Size(5, 5), 0); Mat hsv; cvtColor(blurred, hsv, cv::COLOR_BGR2HSV); // 将原始图像转换为HSV图像 // 分离HSV通道 std::vector<Mat> hsv_channels; split(hsv, hsv_channels); // 增强饱和度（S 通道） double saturation_scale = 1.5; // 饱和度增强因子，可以根据实际情况调整 hsv_channels[1].convertTo(hsv_channels[1], -1, saturation_scale); // 合并通道 merge(hsv_channels, hsv); Mat mask_red, mask_green,mask_blue,mask_orange,mask_brown,mask_yellow,mask_purple; // inRange(blurred, cv::Scalar(0, 0, 130), cv::Scalar(255, 108, 226), mask_red); inRange(blurred, cv::Scalar(0, 0, 144), cv::Scalar(252, 111, 203), mask_red); inRange(blurred, cv::Scalar(0, 112, 174), cv::Scalar(159, 139, 237), mask_orange);//BGR inRange(blurred, cv::Scalar(0, 0, 0), cv::Scalar(123, 112, 108), mask_brown); inRange(blurred, cv::Scalar(0, 127, 97), cv::Scalar(157, 255, 136), mask_green); inRange(blurred, cv::Scalar(156, 119, 0), cv::Scalar(218, 146, 102), mask_blue); inRange(blurred, cv::Scalar(0, 142, 152), cv::Scalar(150, 255, 255), mask_yellow); inRange(hsv, cv::Scalar(99, 33, 120), cv::Scalar(134, 146, 181), mask_purple); Mat kernel = getStructuringElement(MORPH_ELLIPSE, Size(5, 5));// 形态学操作的内核大小 //dilate(mask_red, mask_red, kernel); //dilate(mask_green, mask_green, kernel); erode(mask_red, mask_red, kernel);//腐蚀 erode(mask_green, mask_green, kernel); erode(mask_blue, mask_blue, kernel); erode(mask_yellow, mask_yellow, kernel); erode(mask_orange, mask_orange, kernel); erode(mask_purple, mask_purple, kernel); erode(mask_brown, mask_brown, kernel); //erode(mask_purple, mask_purple, kernel); dilate(mask_orange, mask_orange, kernel); dilate(mask_brown, mask_brown, kernel); //imshow("green", mask_green);//显示原始图像 //获取储存不同颜色的灰度图 std::vector<std::vector<cv::Point>> contours_red; std::vector<std::vector<cv::Point>> contours_red_output; cv::findContours(mask_red,contours_red, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE); std::vector<std::vector<cv::Point>> contours_orange; std::vector<std::vector<cv::Point>> contours_orange_output; cv::findContours(mask_orange,contours_orange, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE); std::vector<std::vector<cv::Point>> contours_brown; std::vector<std::vector<cv::Point>> contours_brown_output; cv::findContours(mask_brown,contours_brown, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE); std::vector<std::vector<cv::Point>> contours_green; std::vector<std::vector<cv::Point>> contours_green_output; cv::findContours(mask_green,contours_green, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE); std::vector<std::vector<cv::Point>> contours_blue; std::vector<std::vector<cv::Point>> contours_blue_output; cv::findContours(mask_blue,contours_blue, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE); std::vector<std::vector<cv::Point>> contours_yellow; std::vector<std::vector<cv::Point>> contours_yellow_output; cv::findContours(mask_yellow,contours_yellow, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE); std::vector<std::vector<cv::Point>> contours_purple; std::vector<std::vector<cv::Point>> contours_purple_output; cv::findContours(mask_purple,contours_purple, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE); //drawContours(blurred, contours, -1, Scalar(0, 255, 0), 3);//轮廓 /************红色/ for (size_t i = 0; i < contours_red.size(); i++) { std::vector<cv::Point>& contour_red = contours_red[i]; if (contour_red.size()>200) { // 检查轮廓是否为空 contours_red_output.push_back(contours_red[i]); } else { ROS_INFO("No red contours found."); } } /橙色/ for (size_t i = 0; i < contours_orange.size(); i++) { std::vector<cv::Point>& contour_orange = contours_orange[i]; if (contour_orange.size()>200) { // 检查轮廓是否为空 contours_orange_output.push_back(contours_orange[i]); } else { ROS_INFO("No orange contours found."); } } /棕色/ for (size_t i = 0; i < contours_brown.size(); i++) { std::vector<cv::Point>& contour_brown = contours_brown[i]; if (contour_brown.size()>200) { // 检查轮廓是否为空 contours_brown_output.push_back(contours_brown[i]); } else { ROS_INFO("No brown contours found."); } } /绿色/ for (size_t i = 0; i < contours_green.size(); i++) { std::vector<cv::Point>& contour_green = contours_green[i]; if (contour_green.size()>200) { // 检查轮廓是否为空 contours_green_output.push_back(contours_green[i]); } else { ROS_INFO("No green contours found."); } } /蓝色/ for (size_t i = 0; i < contours_blue.size(); i++) { std::vector<cv::Point>& contour_blue = contours_blue[i]; if (contour_blue.size()>200) { // 检查轮廓是否为空 contours_blue_output.push_back(contours_blue[i]); } else { ROS_INFO("No blue contours found."); } } /黄色/ for (size_t i = 0; i < contours_yellow.size(); i++) { std::vector<cv::Point>& contour_yellow = contours_yellow[i]; if (contour_yellow.size()>200) { // 检查轮廓是否为空 contours_yellow_output.push_back(contours_yellow[i]); } else { ROS_INFO("No yellow contours found."); } } /紫色/ // 存储每个轮廓的面积及其索引 std::vector<std::pair<double, size_t>> area_index_pairs; for (size_t i = 0; i < contours_purple.size(); ++i) { double area = cv::contourArea(contours_purple[i]); area_index_pairs.emplace_back(area, i); } // 按面积从大到小排序 std::sort(area_index_pairs.begin(), area_index_pairs.end(), [](const std::pair<double, size_t>& a, const std::pair<double, size_t>& b) { return a.first > b.first; }); // 处理面积最大的5个轮廓 size_t count = std::min<size_t>(5, area_index_pairs.size()); if (count == 0) { ROS_INFO("No contours found."); } for (size_t i = 0; i < count; ++i) { size_t index = area_index_pairs[i].second; contours_purple_output.push_back(contours_purple[index]); } //传递颜色灰度图像 Camera_TO_Robot_Process_YP(contours_purple_output,0,3); Camera_TO_Robot_Process_RO(contours_orange_output,0,3); Camera_TO_Robot_Process_RO(contours_red_output,0,3); Camera_TO_Robot_Process_YP(contours_yellow_output,0,4); Camera_TO_Robot_Process_brown(contours_brown_output,0,2); Camera_TO_Robot_Process_YP(contours_purple_output,3,4); Camera_TO_Robot_Process_GB(contours_blue_output,0,4); Camera_TO_Robot_Process_RO(contours_orange_output,3,4); Camera_TO_Robot_Process_GB(contours_green_output,0,4); Camera_TO_Robot_Process_YP(contours_yellow_output,4,5); Camera_TO_Robot_Process_RO(contours_red_output,3,5); Camera_TO_Robot_Process_brown(contours_brown_output,2,4); Camera_TO_Robot_Process_RO(contours_orange_output,4,5); Camera_TO_Robot_Process_GB(contours_blue_output,4,5); Camera_TO_Robot_Process_YP(contours_purple_output,4,5); Camera_TO_Robot_Process_GB(contours_green_output,4,5); // imshow("imgOriginal", imgOriginal); std::cout << "success!" << std::endl; ros::shutdown(); } //红色和橙色 void Camera_TO_Robot_Process_RO(const std::vector<std::vector<cv::Point>>& contours, int start_number, int end_number) { std::cout << "Red or Orange" << std::endl; cv::Point2f center; for (start_number; start_number < end_number; start_number++) { const std::vector<cv::Point>& contour = contours[start_number]; if (contour.size()>300) // 检查轮廓是否为空 { // 获取最小外接圆 // float radius; // cv::minEnclosingCircle(contours[i], center, radius); // 获取最小外接矩形 cv::RotatedRect minRect = cv::minAreaRect(contours[start_number]); center = minRect.center; if(center.y<60) { center.y=60; } if(center.x<82) { center.x=82; } if(center.y>=60&¢er.x>=82) { cv::Mat pixelPointMat = (cv::Mat_<double>(3, 1) << center.x, center.y,1); //cv::Mat pixelPointMat = (cv::Mat_<double>(3, 1) << center.x1.2-91.0, center.y1.275-74.5,1); std::cout << pixelPointMat << std::endl; // pixelPointMat = (cv::Mat_<double>(3, 1) << 640, 360, 1); cameraPointMat = objectHeight * K.inv() * pixelPointMat; // std::cout << "相机坐标系下的三维坐标：" << std::endl; // std::cout << cameraPointMat << std::endl; obj_camera_frame1.setX(cameraPointMat.at<double>(0,0)); obj_camera_frame1.setY(cameraPointMat.at<double>(1,0)); obj_camera_frame1.setZ(cameraPointMat.at<double>(2,0)); obj_robot_frame = camera_to_robot_ * obj_camera_frame1; // ros::shutdown(); //std::cout << "11111" << std::endl; /****** 获取矩形的角度/ double angle = minRect.angle; cv::Size2f size = minRect.size; double width = size.width; double height = size.height; //放平角度 if (width < height) { angle += 90; } // 输出角度 // std::cout << "Contour #" << start_number << " angle: " << angle << std::endl; / 获取矩形的角度/ Grasping(obj_robot_frame.getX(),obj_robot_frame.getY(),obj_robot_frame.getZ(),angle); } } else if(contour.size()>0&&contour.size()<100) { std::cout << "没有红橙像素坐标：" << std::endl; } } } //棕色 void Camera_TO_Robot_Process_brown(const std::vector<std::vector<cv::Point>>& contours, int start_number, int end_number) { std::cout << "Brown start" << std::endl; cv::Point2f center; for (start_number; start_number < end_number; start_number++) { const std::vector<cv::Point>& contour = contours[start_number]; if (contour.size()>300) // 检查轮廓是否为空 { // 获取最小外接圆 float radius; cv::minEnclosingCircle(contours[start_number], center, radius); / 获取矩形的角度*/ // 获取最小外接矩形 cv::RotatedRect minRect = cv::minAreaRect(contours[start_number]); double angle2 = minRect.angle; cv::Size2f size = minRect.size; double width = size.width; double height = size.height; / 获取矩形的角度***********/ double epsilon = 0.1 * cv::arcLength(contours[start_number], true); std::cout << "1111" << std::endl; std::vector<int> lenth(8); std::vector<cv::Point2f> approx; cv::Point2f pt; cv::Point2f pt1; cv::Point2f pt0; cv::approxPolyDP(contours[start_number], approx, epsilon, true); pt0 = approx[0]; if (approx.size() == 3) { for (size_t j = 0; j < approx.size(); j++) { pt= approx[j]; pt1= approx[j+1]; lenth[j]=(pt.x-pt1.x)(pt.x-pt1.x)+(pt.y-pt1.y)(pt.y-pt1.y); if(j==2) { lenth[j]=(pt.x-pt0.x)(pt.x-pt0.x)+(pt.y-pt0.y)(pt.y-pt0.y); } } if ( lenth[0]>lenth[1]&&lenth[0]>lenth[2]) { if(width > height){ switch (start_number) { case 0: angle2 = angle2; break; case 1: angle2 -= 90; break; case 2: angle2 = angle2; break; case 3: angle2 -= 90; break; } } else if(width < height){ switch (start_number) { case 0: angle2 -= 90; break; case 1: angle2 += 180; break; case 2: angle2 -= 90; break; case 3: angle2 += 180; break; } } } else if ( lenth[2]>lenth[1]&&lenth[2]>lenth[0]) { if(width > height){ switch (start_number) { case 0: angle2 += 180; break; case 1: angle2 += 90; break; case 2: angle2 += 180; break; case 3: angle2 += 90; break; } } else if(width < height){ switch (start_number) { case 0: angle2 += 90; break; case 1: angle2 = angle2; break; case 2: angle2 += 90; break; case 3: angle2 = angle2; break; } } } } // center = minRect.center; if(center.y<60) { center.y=60; } if(center.x<82) { center.x=82; } if(center.y>=60&¢er.x>=82) { //cv::Mat pixelPointMat = (cv::Mat_<double>(3, 1) << center.x1.2-91.5, center.y1.275-74.5,1); //cv::Mat pixelPointMat = (cv::Mat_<double>(3, 1) << center.x1.2-92, center.y1.285-76.5,1); cv::Mat pixelPointMat = (cv::Mat_<double>(3, 1) << center.x, center.y,1); std::cout << pixelPointMat << std::endl; // pixelPointMat = (cv::Mat_<double>(3, 1) << 640, 360, 1); cameraPointMat = objectHeight * K.inv() * pixelPointMat; // std::cout << "相机坐标系下的三维坐标：" << std::endl; // std::cout << cameraPointMat << std::endl; obj_camera_frame1.setX(cameraPointMat.at<double>(0,0)); obj_camera_frame1.setY(cameraPointMat.at<double>(1,0)); obj_camera_frame1.setZ(cameraPointMat.at<double>(2,0)); obj_robot_frame = camera_to_robot_ * obj_camera_frame1; if(angle2>176) angle2=176; if(angle2<-176) angle2=-176; std::cout << " angle2 :" << angle2 << std::endl; Grasping(obj_robot_frame.getX(),obj_robot_frame.getY(),obj_robot_frame.getZ(),angle2); } } else if(contour.size()>0&&contour.size()<100) { std::cout << "没有棕色像素坐标：" << std::endl; }} } //紫色和黄色 void Camera_TO_Robot_Process_YP(const std::vector<std::vector<cv::Point>>& contours, int start_number, int end_number) { std::cout << "Yellow or Purple start" << std::endl; double angle2=0; for (start_number; start_number < end_number; start_number++) { const std::vector<cv::Point>& contour = contours[start_number]; if (contour.size()>300) // 检查轮廓是否为空 { /****** 获取矩形的角度*/ cv::RotatedRect minRect = cv::minAreaRect(contours[start_number]); angle2 = minRect.angle; cv::Size2f size = minRect.size; double width = size.width; double height = size.height; / 获取矩形的角度***********/ cv::Point2f center; cv::Point2f center2; double epsilon = 0.04 * cv::arcLength(contours[start_number], true); // 多边形逼近 std::vector<int> lenth(6); std::vector<cv::Point2f> approx; cv::Point2f pt; cv::Point2f pt1; cv::Point2f pt0; cv::approxPolyDP(contours[start_number], approx, epsilon, true); // std::cout <<" lenth[i] "<< approx.size() << std::endl; pt0 = approx[0]; if (approx.size() == 6) { for (size_t i = 0; i < approx.size(); i++) { pt= approx[i]; pt1= approx[i+1]; lenth[i]=(pt.x-pt1.x)(pt.x-pt1.x)+(pt.y-pt1.y)(pt.y-pt1.y); if(i==5) lenth[i]=(pt.x-pt0.x)(pt.x-pt0.x)+(pt.y-pt0.y)(pt.y-pt0.y); } /************purple/ if ( lenth[5]>lenth[1]&&lenth[5]>lenth[0]&&lenth[5]>lenth[2]&&lenth[5]>lenth[3]&&lenth[5]>lenth[4]) { // center2 = (approx[1]+approx[2])/2; // center = (approx[5]+center2)/2; center = (approx[5]+approx[2])/2; if(width > height){ switch (start_number) { case 0: angle2 -= 90; break; case 1: angle2 += 90; break; case 2: angle2 -= 90; break; case 3: angle2 += 90; break; case 4: angle2 = angle2; break; }} else if(width < height){ switch (start_number) { case 0: angle2 += 180; break; case 1: angle2 = angle2; break; case 2: angle2 += 180; break; case 3: angle2 = angle2; break; case 4: angle2 -= 90; break; }} std::cout << "555555" << std::endl; } /purple/ else if ( lenth[1]>lenth[2]&&lenth[1]>lenth[0]&&lenth[1]>lenth[5]&&lenth[1]>lenth[3]&&lenth[1]>lenth[4]) { //center2 = (approx[3]+approx[4])/2; //center = (approx[1]+center2)/2; center = (approx[1]+approx[4])/2; if(width > height){ if(approx[1].y<approx[0].y&&approx[1].y<approx[2].y&&approx[1].y<approx[3].y&&approx[1].y<approx[4].y&&approx[1].y<approx[5].y){ switch (start_number) { case 0: angle2 += 90; break; case 1: angle2 -= 90; break; case 2: angle2 += 90; break; case 3: angle2 -= 90; break; case 4: angle2 += 180; break; }} else{ switch (start_number) { case 0: angle2 -= 90; break; case 1: angle2 += 90; break; case 2: angle2 -= 90; break; case 3: angle2 += 90; break; case 4: angle2 = angle2; break; } } } else if(width < height) { switch (start_number) { case 0: angle2 = angle2; break; case 1: angle2 += 180; break; case 2: angle2 = angle2; break; case 3: angle2 += 180; break; case 4: angle2 += 90; break; }} std::cout << "11111111" << std::endl; } /purple/ /yellow/ else if ( lenth[0]>lenth[1]&&lenth[0]>lenth[2]&&lenth[0]>lenth[5]&&lenth[0]>lenth[3]&&lenth[0]>lenth[4]) { //center2 = (approx[4]+approx[5])/2; //center = (center2+approx[1])/2; center = (approx[4]+approx[1])/2; if(width < height){ switch (start_number) { case 0: angle2 += 180; break; case 1: angle2 = angle2; break; case 2: angle2 += 180; break; case 3: angle2 = angle2; break; case 4: angle2 += 90; break; } } else{ switch (start_number) { case 0: angle2 -= 90; break; case 1: angle2 += 90; break; case 2: angle2 -= 90; break; case 3: angle2 += 90; break; case 4: angle2 += 180; break; } } std::cout << "000000" << std::endl; } /yellow*/ else if ( lenth[4]>lenth[1]&&lenth[4]>lenth[0]&&lenth[4]>lenth[5]&&lenth[4]>lenth[3]&&lenth[4]>lenth[2])/////yellow { //center2 = (approx[2]+approx[3])/2; // center = (center2+approx[5])/2; center = (approx[2]+approx[5])/2; if(width < height){ if(approx[5].y<approx[0].y&&approx[5].y<approx[1].y&&approx[5].y<approx[2].y&&approx[5].y<approx[3].y&&approx[5].y<approx[4].y){ switch (start_number) { case 0: angle2 = angle2; break; case 1: angle2 += 180; break; case 2: angle2 = angle2; break; case 3: angle2 += 180; break; case 4: angle2 -= 90; break; } } else { switch (start_number) { case 0: angle2 += 180; break; case 1: angle2 = angle2; break; case 2: angle2 += 180; break; case 3: angle2 = angle2; break; case 4: angle2 += 90; break; } } } else if(width > height){ switch (start_number) { case 0: angle2 += 90; break; case 1: angle2 -= 90; break; case 2: angle2 += 90; break; case 3: angle2 -= 90; break; case 4: angle2 = angle2; break; } } std::cout << "444444" << std::endl; } /yellow*********************/ } if(center.y<60) { center.y=60; } if(center.x<82) { center.x=82; } if(center.y>=60&¢er.x>=82) { //cv::Mat pixelPointMat = (cv::Mat_<double>(3, 1) << center.x1.2-92, center.y1.285-76.5,1); cv::Mat pixelPointMat = (cv::Mat_<double>(3, 1) << center.x, center.y,1); // std::cout << pixelPointMat << std::endl; // pixelPointMat = (cv::Mat_<double>(3, 1) << 640, 360, 1); cameraPointMat = objectHeight * K.inv() * pixelPointMat; // std::cout << "相机坐标系下的三维坐标：" << std::endl; // std::cout << cameraPointMat << std::endl; obj_camera_frame1.setX(cameraPointMat.at<double>(0,0)); obj_camera_frame1.setY(cameraPointMat.at<double>(1,0)); obj_camera_frame1.setZ(cameraPointMat.at<double>(2,0)); obj_robot_frame = camera_to_robot_ * obj_camera_frame1; std::cout<< " X :" << obj_robot_frame.getX() << std::endl; std::cout<< " Y :" << obj_robot_frame.getY() << std::endl; std::cout<< " Z :" << obj_robot_frame.getZ() << std::endl; if(angle2>176) angle2=176; if(angle2<-176) angle2=-176; std::cout << " angle2 :" << angle2 << std::endl; Grasping(obj_robot_frame.getX(),obj_robot_frame.getY(),obj_robot_frame.getZ(),angle2); } } else if(contour.size()>0&&contour.size()<280) { std::cout << "没有黄紫像素坐标：" << std::endl; }} } //绿色和蓝色 void Camera_TO_Robot_Process_GB(const std::vector<std::vector<cv::Point>>& contours, int start_number, int end_number) { std::cout << "green or blue" << std::endl; // 输出提示信息 cv::Point2f center; for(start_number; start_number < end_number; start_number++) { const std::vector<cv::Point>& contour = contours[start_number]; if (contour.size()>300) { // 检查轮廓是否为空 // 获取最小外接矩形 cv::RotatedRect minRect = cv::minAreaRect(contours[start_number]); center = minRect.center; double angleInRadians = minRect.angle * M_PI / 180.0; if(center.y<60) { center.y=60; } if(center.x<82) { center.x=82; } if(center.y>=60&¢er.x>=82) { cv::Mat pixelPointMat = (cv::Mat_<double>(3, 1) << center.x, center.y,1); std::cout << pixelPointMat << std::endl; cameraPointMat = objectHeight * K.inv() * pixelPointMat; //平面下的坐标转为相机三维坐标 //相机坐标转为基座标 obj_camera_frame1.setX(cameraPointMat.at<double>(0, 0)); obj_camera_frame1.setY(cameraPointMat.at<double>(1, 0)); obj_camera_frame1.setZ(cameraPointMat.at<double>(2, 0)); obj_robot_frame= camera_to_robot_ * obj_camera_frame1; std::cout << "坐标为: " << obj_robot_frame << std::endl; /****** 获取矩形的角度*/ double angle = minRect.angle; cv::Size2f size = minRect.size; double width = size.width; double height = size.height; //放平角度 if (width > height) { angle += 90; } Grasping(obj_robot_frame.getX(),obj_robot_frame.getY(),obj_robot_frame.getZ(),angle); } } else if(contour.size()>0&&contour.size()<100) { std::cout << "没有蓝绿像素坐标：" << std::endl; } } } }; /调用服务运行机械臂*************/ int move_lineb_test(xarm_msgs::Move srv, ros::ServiceClient client, float x_mm0, float y_mm0, float z_mm0, double roll0, double pitch0, double yaw0, float x_mm1, float y_mm1, float z_mm1, double roll1, double pitch1, double yaw1, float x_mm2, float y_mm2, float z_mm2, double roll2, double pitch2, double yaw2, float x_mm3, float y_mm3, float z_mm3, double roll3, double pitch3, double yaw3, float x_mm4, float y_mm4, float z_mm4, double roll4, double pitch4, double yaw4) { // 设置机械臂的运动速度 srv.request.mvvelo = 160; // 设置机械臂的运动加速度 srv.request.mvacc = 1000; // 设置机械臂的运动时间 srv.request.mvtime = 0; // 设置机械臂运动路径的圆角半径 srv.request.mvradii = 20; ROS_INFO("ZUOBIAOR: %f, %f,%f", x_mm1, y_mm1, z_mm1); std::vector<float> pose[5] = { {x_mm0, y_mm0, z_mm0, static_cast<float>(roll0), static_cast<float>(pitch0), static_cast<float>(yaw0)}, {x_mm1, y_mm1, z_mm1, static_cast<float>(roll1), static_cast<float>(pitch1), static_cast<float>(yaw1)}, {x_mm2, y_mm2, z_mm2, static_cast<float>(roll2), static_cast<float>(pitch2), static_cast<float>(yaw2)}, {x_mm3, y_mm3, z_mm3, static_cast<float>(roll3), static_cast<float>(pitch3), static_cast<float>(yaw3)}, {x_mm4, y_mm4, z_mm4, static_cast<float>(roll4), static_cast<float>(pitch4), static_cast<float>(yaw4)} }; for(int i = 0; i < 5; i++) { srv.request.pose = pose[i]; if(client.call(srv)) { ROS_INFO("%s\n", srv.response.message.c_str()); std::cout << "success111" << std::endl; } else { ROS_ERROR("Failed to call service move_lineb"); } } return 0; } bool is_at_pose(const geometry_msgs::Pose& current_pose, const geometry_msgs::Pose& target_pose, double tolerance = 0.005) { return std::abs(current_pose.position.x - target_pose.position.x) < tolerance && std::abs(current_pose.position.y - target_pose.position.y) < tolerance && std::abs(current_pose.position.z - target_pose.position.z) < tolerance; } //阻塞服务，检测是否到达目标位置 void control_suction_during_move(float x_mm4, float y_mm4, float z_mm4) { // 定义目标位 moveit::planning_interface::MoveGroupInterface arm("xarm7"); ros::AsyncSpinner spinner(1); spinner.start(); geometry_msgs::Pose target_pose4; target_pose4.position.x = x_mm4 / 1000.0; target_pose4.position.y = y_mm4 / 1000.0; target_pose4.position.z = (z_mm4-76.7398-13.9+8.5) / 1000.0; bool suction_off_triggered = false; // 循环检查当前位姿 ros::Rate rate(10); // 10 Hz 检查频率 while (ros::ok()) { geometry_msgs::Pose current_pose = arm.getCurrentPose().pose; // ROS_INFO("ZUOBIAO_SHISHI: %f, %f, %f", current_pose.position.x, current_pose.position.y, current_pose.position.z); // 检查是否到达关闭吸盘的位置 if (!suction_off_triggered && is_at_pose(current_pose, target_pose4)) { ROS_INFO("Reached suction off position, trying to turn off suction."); sleep(0.8); writeSpeed(0); writeSpeed(0); writeSpeed(0); sleep(0.5); ROS_INFO("Suction off commands sent."); suction_off_triggered = true; } // 如果两个条件都满足，退出循环 if (suction_off_triggered) { break; } rate.sleep(); } } int main(int argc, char argv) { // 初始化ROS节点 ros::init(argc, argv, "xarm_api"); ros::NodeHandle nh; XArmAPItest ic; nh.setParam("/xarm/wait_for_finish", true); ros::Publisher sleep_pub_ = nh.advertise<std_msgs::Float32>("/xarm/sleep_sec", 1); ros::ServiceClient motion_ctrl_client_ = nh.serviceClient<xarm_msgs::SetAxis>("/xarm/motion_ctrl"); ros::ServiceClient set_mode_client_ = nh.serviceClient<xarm_msgs::SetInt16>("/xarm/set_mode"); ros::ServiceClient set_state_client_ = nh.serviceClient<xarm_msgs::SetInt16>("/xarm/set_state"); ros::ServiceClient move_lineb_client_ = nh.serviceClient<xarm_msgs::Move>("/xarm/move_lineb"); xarm_msgs::SetAxis set_axis_srv_; xarm_msgs::SetInt16 set_int16_srv_; xarm_msgs::Move move_srv_; float x_mm0, y_mm0, z_mm0; double roll0, pitch0, yaw0; float x_mm1, y_mm1, z_mm1; double roll1, pitch1, yaw1; float x_mm2, y_mm2, z_mm2; double roll2, pitch2, yaw2; float x_mm3, y_mm3, z_mm3; double roll3, pitch3, yaw3; float x_mm4, y_mm4, z_mm4; double roll4, pitch4, yaw4; set_axis_srv_.request.id = 8; set_axis_srv_.request.data = 1; if(motion_ctrl_client_.call(set_axis_srv_)) { ROS_INFO("%s\n", set_axis_srv_.response.message.c_str()); } else { ROS_ERROR("Failed to call service motion_ctrl"); return 1; } set_int16_srv_.request.data = 0; if(set_mode_client_.call(set_int16_srv_)) { ROS_INFO("%s\n", set_int16_srv_.response.message.c_str()); } else { ROS_ERROR("Failed to call service set_mode"); return 1; } set_int16_srv_.request.data = 0; if(set_state_client_.call(set_int16_srv_)) { ROS_INFO("%s\n", set_int16_srv_.response.message.c_str()); } else { ROS_ERROR("Failed to call service set_state"); return 1; } nh.setParam("/xarm/wait_for_finish", false); std_msgs::Float32 sleep_msg; sleep_msg.data = 1.0; sleep_pub_.publish(sleep_msg); if(move_lineb_test(move_srv_, move_lineb_client_, x_mm0, y_mm0, z_mm0, roll0, pitch0, yaw0, x_mm1, y_mm1, z_mm1, roll1, pitch1, yaw1, x_mm2, y_mm2, z_mm2, roll2, pitch2, yaw2, x_mm3, y_mm3, z_mm3, roll3, pitch3, yaw3, x_mm4, y_mm4, z_mm4, roll4, pitch4, yaw4) == 1) return 1; // 调用 control_suction_during_move 函数 control_suction_during_move(x_mm4, y_mm4, z_mm4); sleep(0.8); nh.setParam("/xarm/wait_for_finish", true); while(ros::ok()) { ros::spinOnce(); } return 0; }解释一下

cv::Mat distCoeffs = (cv::Mat_<double>(5, 1) << k1, k2, p1, p2, 0); std::vector<cv::Point2f> distortedPoints(1, pixelPoint); std::vector<cv::Point2f> undistortedPoints; cv::undistortPoints...

import json # 读取json文件 with open('input.json', 'r') as f: data = json.load(f) # 动态创建结构体类型 struct_name = 'MyStruct' members = [(k, type(v)) for k, v in data.items()] MyStruct = type(struct_name, (object,), dict(members)) # 生成结构体定义 struct_def = 'struct %s {\n' % struct_name for name, _type in members: struct_def += ' %s %s;\n' % (_type.name, name) struct_def += '};\n\n' # 生成json解析代码 parse_code = 'void parse_json(json_t root, %s obj) {\n' % struct_name for name, _type in members: if _type == int: parse_code += ' obj->%s = json_integer_value(json_object_get(root, "%s"));\n' % (name, name) elif _type == float: parse_code += ' obj->%s = json_real_value(json_object_get(root, "%s"));\n' % (name, name) elif _type == str: parse_code += ' obj->%s = json_string_value(json_object_get(root, "%s"));\n' % (name, name) parse_code += '}\n\n' # 生成C代码 c_code = struct_def + parse_code + """ #include <jansson.h> int main() { json_t *root; json_error_t error; // 从文件中读取json数据 root = json_load_file("input.json", 0, &error); // 解析json数据 %s my_struct; parse_json(root, &my_struct); // 处理结构体 // ... // 释放json对象 json_decref(root); return 0; } """ % struct_name # 将C代码写入文件 with open('output.c', 'w') as f: f.write(c_code) 这段代码存在问题，c语言没有字典的数据类型请调整

#include <stdio.h> #include <stdlib.h> #include <jansson.h> #include "uthash.h" // 定义结构体 typedef struct { char* key; int value; UT_hash_handle hh; // uthash库的hash_handle } MyStruct; // ...

#include <stdint.h> #define MAX_ECU 10 typedef struct { char ddd[16]; } ECU; typedef struct { char zhushini[16]; char qusi[16]; } Nishizhu; typedef struct { char sourceaddress[5]; char target_ip[16]; char local_ip[16]; char target_port[6]; ECU ecu[MAX_ECU]; Nishizhu nishizhu; } TCPSetting; typedef struct { TCPSetting tcp_setting; } Config; 结合上面的结构体定义修改下面的函数 int loadjsonfile(char jsonfilepath) { // 读取 JSON 文件内容 FILE fp = fopen(jsonfilepath, "r"); if (fp == NULL) { printf("Failed to open file!\n"); return 1; } fseek(fp, 0, SEEK_END); long file_size = ftell(fp); rewind(fp); char* buffer = (char)malloc(sizeof(char) (file_size + 1)); fread(buffer, sizeof(char), file_size, fp); fclose(fp); // 解析 JSON 文件内容 json_t root; json_error_t error; root = json_loads(buffer, 0, &error); if (!root) { printf("Error: on line %d: %s\n", error.line, error.text); return 1; } // 从 JSON 对象中获取属性值 json_t person = json_object_get(root, "person"); json_t *name = json_object_get(person, "name"); json_t age = json_object_get(person, "age"); const char name_str = json_string_value(name); int age_int = json_integer_value(age); // 将属性值保存到结构体中 struct Person p; strcpy(p.name, name_str); p.age = age_int; // 输出结构体内容 printf("Name: %s\n", p.name); printf("Age: %d\n", p.age); // 释放 jansson 对象和缓冲区 json_decref(root); free(buffer); return 0; }

#include <stdio.h> #include <stdlib.h> #include <string.h> #include "jansson.h" #define MAX_ECU 10 typedef struct { char ddd[16]; } ECU; typedef struct { char zhushini[16]; char qusi[16]; } ...

====================[ 构建 | DEMO.elf | Debug ]=================================== /Users/mac/Applications/CLion.app/Contents/bin/cmake/mac/aarch64/bin/cmake --build /Users/mac/NewFolder/DEMO_副本/cmake-build-debug --target DEMO.elf -- -j 6 [ 4%] Building C object CMakeFiles/DEMO.elf.dir/Core/Src/main.c.obj /Users/mac/NewFolder/DEMO_副本/Core/Src/main.c: In function 'ProcessKeyState': /Users/mac/NewFolder/DEMO_副本/Core/Src/main.c:243:40: error: passing argument 3 of 'LCD_Display_Words' makes pointer from integer without a cast [-Wint-conversion] 243 | LCD_Display_Words(3, 5, keyCtrl.in1Time); | ~~~^~ | | | uint32_t {aka long unsigned int} In file included from /Users/mac/NewFolder/DEMO_副本/Core/Src/main.c:23: /Users/mac/NewFolder/DEMO_副本/Core/Inc/LCD1602.h:23:55: note: expected 'uint8_t ' {aka 'unsigned char '} but argument is of type 'uint32_t' {aka 'long unsigned int'} 23 | void LCD_Display_Words(uint8_t x, uint8_t y, uint8_t str);//显示字； | ~~~^ /Users/mac/NewFolder/DEMO_副本/Core/Src/main.c:253:40: error: passing argument 3 of 'LCD_Display_Words' makes pointer from integer without a cast [-Wint-conversion] 253 | LCD_Display_Words(3, 5, keyCtrl.in2Time); | ~^~ | | | uint32_t {aka long unsigned int} /Users/mac/NewFolder/DEMO_副本/Core/Inc/LCD1602.h:23:55: note: expected 'uint8_t ' {aka 'unsigned char '} but argument is of type 'uint32_t' {aka 'long unsigned int'} 23 | void LCD_Display_Words(uint8_t x, uint8_t y, uint8_t str);//显示字； | ~~~~~^ make[3]: * [CMakeFiles/DEMO.elf.dir/Core/Src/main.c.obj] Error 1 make[2]: * [CMakeFiles/DEMO.elf.dir/all] Error 2 make[1]: * [CMakeFiles/DEMO.elf.dir/rule] Error 2 make: * [DEMO.elf] Error 2

// 转换第一个时间值 sprintf((char*)timeBuffer, "%lu", keyCtrl.in1Time); LCD_Display_Words(3, 5, timeBuffer); // 转换第二个时间值 sprintf((char*)timeBuffer, "%lu", keyCtrl.in2Time); LCD_Display_Words...

#include <stdio.h> struct{ int len; char str; }p; int main(){ char a[3] = {'a', 'b', 'c'}; p->str = a; //printf("%c", *(++p->str)); printf("%c", a[0]); return 0; } 请给出上述C语言的输出结果。

这种情况下，如果p->a指向一个字符数组，例如： char arr[] = "world"; p->a = arr; 那么printf("%s\n", p->a);会输出world。但根据问题描述，题目中提到的是结构体指针变量p指向字符数组a，这里可能存在表述上的...

#include <stdio.h> #include <string.h> typedef struct{ int a1[10]; }arr1; typedef struct{ arr1 a2[10]; }arr2; int main() { int i,j; arr2 d2; memset(d2,1,sizeof(d2)); for(i=0;i<10;i++){ for(j=0;j<10;j++) printf("%d,",((d2+j)+i)); printf("\n"); } return 0; }

用户提到的引用[1]里提到给前10个int元素赋值0x01010101，这每个int是四个字节，每个字节都是0x01，所以十进制是16843009。这可能是在初始化结构体数组时，部分初始化导致后面的元素自动补零？或者如果数组定义过长...

#include <stdio.h> // 定义一个结构体 condition，用于存储输入的条件 struct condition { int obj1; // 存储条件中的第一个字符-'A'的值 int obj2; // 存储条件中的第二个字符-'A'的值 int num; // 存储数字 int ret; // 是否是等于号，0表示不是，1表示是 } condition[20]; // 存储20个条件 // 判断值班日期与输入的条件是否符合 int judge(int *a, int n) { int i = 0; int ret = 1; // 默认符合条件 // 遍历所有条件 for (i = 0; i < n; i++) { // 如果是等于号，判断值班日期和条件日期-1是否相等 if (condition[i].ret) { if (a[condition[i].obj1] != condition[i].num - 1) ret = 0; break; } // 否则，判断两个日期之间的差是否等于条件中的数字 else if (a[condition[i].obj1] + condition[i].num != a[condition[i].obj2]) { ret = 0; break; } } return ret; }

#include <stdio.h> // 定义结构体 Condition，用于存储输入的条件 typedef struct { int obj1; // 条件中的第一个字符-'A'的值 int obj2; // 条件中的第二个字符-'A'的值 int num; // 条件中的数字 int is_eq;...

#include <stdio.h> #include <sys/types.h> /* See NOTES / #include <sys/socket.h> #include <stdlib.h> #include <json/json.h> #include #include <string.h> #include <sys/socket.h> #include <netinet/in.h> #include <arpa/inet.h> #include "video.h" #include "motor.h" int main() { int sockfd = socket(AF_INET, SOCK_STREAM, 0); if (-1 == sockfd) { perror("socket"); exit(1); } struct sockaddr_in ali_addr; memset(&ali_addr, 0, sizeof(ali_addr)); ali_addr.sin_family = AF_INET; ali_addr.sin_port = htons(ALI_PORT); ali_addr.sin_addr.s_addr = inet_addr(ALI_ADDR); //connect ali server if (connect(sockfd, (struct sockaddr )&ali_addr, sizeof(ali_addr)) < 0) { perror("connect ali server failure"); exit(1); } //create json object struct json_object obj = (struct json_object )json_object_new_object(); json_object_object_add(obj, "cmd", json_object_new_string("info")); json_object_object_add(obj, "deviceid", json_object_new_string("0001")); const char s = (const char )json_object_to_json_string(obj); if (send(sockfd, s, strlen(s), 0) < 0) { perror("send to ali failure"); exit(1); } //recv server port info char buf[256] = {0}; if (recv(sockfd, buf, sizeof(buf), 0) < 0) { perror("recv from server failure"); exit(1); } struct json_object json = json_tokener_parse(buf); struct json_object cmd, port; int server_udp_port; cmd = json_object_object_get(json, "cmd"); port = json_object_object_get(json, "port"); if (!strcmp((const char )json_object_get_string(cmd), "port_info")) { server_udp_port = json_object_get_int(port); } else { printf("recv from server error\n"); } //start new thread, send video data to ali server pthread_t tid; pthread_create(&tid, NULL, send_video_data, &server_udp_port); while (1) { memset(buf, 0, sizeof(buf)); if (recv(sockfd, buf, sizeof(buf), 0) < 0) { perror("recv failure"); } json = json_tokener_parse(buf); struct json_object cmd, action; cmd = json_object_object_get(json, "cmd"); action = json_object_object_get(json, "action"); if (!strcmp((const char )json_object_get_string(cmd), "control")) { const char act = json_object_get_string(action); if (!strcmp(act, "left")) //left { motor_turn_left(); } else if (!strcmp(act, "right")) { motor_turn_right(); } else if (!strcmp(act, "up")) { motor_turn_up(); } else if (!strcmp(act, "down")) { motor_turn_down(); } } } return 0; }注释代码

#include <stdio.h> // 标准输入输出 #include <sys/types.h> // 系统数据类型定义 #include <sys/socket.h> // 套接字编程接口 #include <stdlib.h> // 标准库函数 #include <json/json.h> // JSON解析库（libjson-...

#ifndef MAINWINDOW_H #define MAINWINDOW_H #include <QMainWindow> QT_BEGIN_NAMESPACE namespace Ui { class MainWindow; } QT_END_NAMESPACE class MainWindow : public QMainWindow { Q_OBJECT public: MainWindow(QWidget parent = nullptr); ~MainWindow(); private: Ui::MainWindow ui; }; #endif // MAINWINDOW_H ----------------------------------------------- #include "mainwindow.h" #include "ui_mainwindow.h" MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent) , ui(new Ui::MainWindow) { ui->setupUi(this); } MainWindow::~MainWindow() { delete ui; } 以上两个是.h和.cpp代码 --------------------------------------------------------- <?xml version="1.0" encoding="UTF-8"?> <ui version="4.0"> <class>MainWindow</class> <widget class="QMainWindow" name="MainWindow"> <rect> <x>0</x> <y>0</y> <width>932</width> <height>628</height> </rect> <string>MainWindow</string> <widget class="QWidget" name="centralwidget"> <widget class="QPushButton" name="pb_connect"> <rect> <x>40</x> <y>20</y> <width>89</width> <height>25</height> </rect> <string>连接</string> </widget> <widget class="QPushButton" name="pb_led0"> <rect> <x>40</x> <y>70</y> <width>89</width> <height>25</height> </rect> <string>led0_on</string> </widget> <widget class="QPushButton" name="pb_led1"> <rect> <x>40</x> <y>110</y> <width>89</width> <height>25</height> </rect> <string>led1_on</string> </widget> <widget class="QPushButton" name="pb_led2"> <rect> <x>40</x> <y>150</y> <width>89</width> <height>25</height> </rect> <string>led2_on</string> </widget> <widget class="QPushButton" name="pb_feng"> <rect> <x>40</x> <y>190</y> <width>89</width> <height>25</height> </rect> <string>feng_on</string> </widget> <widget class="QPushButton" name="pb_buzzer"> <rect> <x>140</x> <y>20</y> <width>89</width> <height>25</height> </rect> <string>蜂鸣器_on</string> </widget> <widget class="QPushButton" name="pb_humiture"> <rect> <x>140</x> <y>70</y> <width>89</width> <height>25</height> </rect> <string>温湿度_on</string> </widget> <widget class="QPushButton" name="pb_photosensitive"> <rect> <x>140</x> <y>110</y> <width>89</width> <height>25</height> </rect> <string>光敏_on</string> </widget> <widget class="QPushButton" name="pb_infrared"> <rect> <x>140</x> <y>150</y> <width>89</width> <height>25</height> </rect> <string>人体红外_on</string> </widget> <widget class="QPushButton" name="pb_camera"> <rect> <x>140</x> <y>190</y> <width>89</width> <height>25</height> </rect> <string>摄像头_on</string> </widget> <widget class="QTextBrowser" name="textBrowser"> <rect> <x>350</x> <y>10</y> <width>421</width> <height>211</height> </rect> </widget> </widget> <widget class="QMenuBar" name="menubar"> <rect> <x>0</x> <y>0</y> <width>932</width> <height>28</height> </rect> </widget> <widget class="QStatusBar" name="statusbar"/> </widget> <resources/> <connections/> </ui> 以上是.ui代码 --------------------------------------------------------- 目前项目进度：当前项目结构如下： DXM1txst： DXM1txst.pro Headers： fsmpBeeper.h fsmpElectric.h fsmpEvents.h fsmpFan.h fsmpLed.h fsmpLight.h fsmpProximity.h fsmpsevensegLed.h fsmpTempHum.h fsmpvibrator.h mainwindow.h Sources： main.cpp mainwindow.cpp Forms： mainwindow.ui qtcreator内：ui界面中已经有组件：pb_connect（连接按钮）、pb_led0（电灯1开关按钮）、pb_led1（电灯2开关按钮）、pb_led2（电灯3开关按钮）、pb_feng（风扇开关按钮）、pb_buzzer（蜂鸣器开关按钮）、pb_humiture（温湿度传感器开关按钮）、pb_photosensitive（光敏传感器开关按钮）、pb_infrared（人体红外传感器开关按钮）、pb_camera（摄像头开关按钮）、textBrowser（用于接收和发布的消息显示）。华清远见元宇宙实验中心物联网仿真系统内：所需的所以硬件的3D场景设计完毕，M4网关单元的Mqtt配置为：地址：mqtt.yyzlab.com.cn 端口：1883 与应用层、云端交互的Topic：订阅：1752365375766/APP2AIOTSIM 发布：1752365375766/AIOTSIM2APP 与硬件交互的Topic：订阅：1752365382482/Device2AIOTSIM 发布：1752365382482/AIOTSIM2Device 与华清远见元宇宙实验中心物联网仿真系统内硬件开关发布的控制码为：电灯0开：{"lamp":true,"id":0}，电灯0关：{"lamp":false,"id":0}，电灯1开：{"lamp":true,"id":1}，电灯1关：{"lamp":false,"id":1}，电灯2开：{"lamp":true,"id":2}，电灯2关：{"lamp":false,"id":2}，风扇开：{"fan":true,"id":0}，风扇关：{"fan":false,"id":0}，人体红外传感器开：{"infrared ":true,"id":0}，人体红外传感器关：{"infrarrared ":false,"id":0}，温湿度传感器：{"tem":38.8,"hum":65.7,"id":0}，光敏传感器：{"light":43037.0,"id":0} Stm32mp157开发板：所有需要的硬件部署完毕，硬件的.h代码如下（硬件的.h代码已经放入qtcreator项目下的Headers文件夹下，且硬件的所有.h文件内代码都不能再进行修改）： fsmpBeeper.h： #ifndef FSMPBEEPER_H #define FSMPBEEPER_H /*************************************************************************** * * 类名：fsmpBeeper * 功能说明：扩展板蜂鸣器 * 公有函数： * fsmpBeeper（） * bool setRate(uint32_t rate) 设置频率 * bool start(void) 启动蜂鸣器 * bool stop(void) 关闭蜂鸣器 * * 信号： * 无 * * *************************************************************************/ #include <QObject> #include #include <string.h> #include <fcntl.h> #include <stdio.h> #include <stdlib.h> #include <unistd.h> #include <QIODevice> /* FSMP开发板（linux）蜂鸣器操作类 v0 2023/1/9 by 张城 / class fsmpBeeper:public QObject{ Q_OBJECT public: explicit fsmpBeeper(const char device = "/dev/input/event0", QObject parent = nullptr) :QObject(parent) { event.type = EV_SND; time.tv_sec = 1; time.tv_usec = 0; event.time = time; beeper_fd = ::open(device,O_RDWR); if(beeper_fd < 0) { perror("open_beeper"); return; } }; ~fsmpBeeper() { ::close(beeper_fd); } / * Description: 设置频率值 * input: rate 频率 * output: null * return: 成功true/失败false / bool setRate(uint32_t rate = 1000) { if(rate > 0) { event.code = SND_TONE; event.value = rate; return true; } return false; } / * Description: start设备 * input: null * output: null * return: 成功true/失败false / bool start(void) { int ret = write(beeper_fd, &event, sizeof(struct input_event)); if(ret < 0) { perror("write"); return false; } return true; } / * Description: 关闭设备 * input: null * output: null * return: 成功true/失败false */ bool stop(void) { struct input_event event; event.type = EV_SND; event.code = SND_BELL; event.value = 0000; time.tv_sec = 1; time.tv_usec = 0; event.time = time; int ret = write(beeper_fd, &event, sizeof(struct input_event)); if(ret < 0) { perror("write"); return false; } return true; } private: int beeper_fd; //设备文件描述符 struct input_event event; struct timeval time; }; #endif // FSMPBEEPER_H ------------------------------------------------------- fsmpElectric.h： #ifndef ELC_H #define ELC_H /*************************************************************************** * * 类名：fsmpElectric * 功能说明：扩展板电气信息检测 * 公有函数： * fsmpElectric（） * float voltagemV(void) 获取电压mv（旋钮控制） * float currentmA(void) 获取电流ma（板载设备真实电流） * * 信号： * 无 * * *************************************************************************/ #include <QObject> #include #include <string.h> #include <fcntl.h> #include <stdio.h> #include <stdlib.h> #include <unistd.h> #include <QIODevice> #include <stdint.h> #include <QDebug> class fsmpElectric:public QObject{ Q_OBJECT public: explicit fsmpElectric(QObject parent = nullptr) :QObject(parent) { } ~fsmpElectric(){ } float voltagemV(void) { electric_fd1 = open("/sys/bus/iio/devices/iio:device3/in_voltage1_raw",O_RDONLY|O_NONBLOCK); if(electric_fd1 < 0) { perror("open"); return -1; } char buf[10] = {0}; int ret = read(electric_fd1,buf,sizeof(buf)); if(ret < 0) { perror("read"); return -1; } int val = 0; sscanf(buf,"%d",&val); ::close(electric_fd1); return (float)3300 val / 65536; } float currentmA(void) { electric_fd0 = open("/sys/bus/iio/devices/iio:device3/in_voltage0_raw",O_RDONLY|O_NONBLOCK); if(electric_fd0 < 0) { perror("open"); return -1; } char buf[10] = {0}; int ret = read(electric_fd0,buf,sizeof(buf)); if(ret < 0) { perror("read"); return -1; } int val = 0; sscanf(buf,"%d",&val); ::close(electric_fd0); return ((((float)3300 * val) /65536)/(10 + 1001000 + 1000)) 1000 / 0.1; } private: int electric_fd0; //设备文件描述符 int electric_fd1; //设备文件描述符 }; #endif // ELC_H ------------------------------------------------------- fsmpEvents.h： #ifndef ENV_H #define ENV_H /*************************************************************************** * * 类名：fsmpEvents * 功能说明：扩展板按钮、人体红外、光闸管、火焰 * 公有函数： * fsmpEvents（） * 信号： * void lightTriggered(); 光闸管阻隔 * void flameDetected(); 火焰检测 * void peopleDetected(bool); 人体红外发现true/离开false * void keyPressed(int keynum); 按键按下 keynum： 1、2、3 * void keyRelessed(int keynum); 按键释放 keynum： 1、2、3 * * *************************************************************************/ #include <QObject> #include #include <string.h> #include <fcntl.h> #include <stdio.h> #include <stdlib.h> #include <unistd.h> #include <QIODevice> #include <QTimer> #include #include <sys/ioctl.h> #include <QDebug> #include <QProcess> #include <QThread> #include <stdio.h> #include <stdlib.h> class fsmpEvents:public QObject{ Q_OBJECT signals: /* edge trigle !!!/ void lightTriggered();//光电开关 void flameDetected();//火焰检测 void peopleDetected(bool);//人体红外 void keyPressed(int keynum); void keyRelessed(int keynum); public: explicit fsmpEvents(QObject parent = nullptr):QObject(parent) { this->gpio_F_open(); this->gpio_E_open(); fs_timer = new QTimer(this); connect(fs_timer,SIGNAL(timeout()),this,SLOT(time_out())); fs_timer->start(10); }; private: bool gpio_F_open(const char device = "/dev/gpiochip5") { int ret; int fd = open(device,O_RDONLY|O_NONBLOCK); if(fd < 0) { fprintf(stderr,"open"); return false; } event_req.lineoffset = 9; //TODO event_req.handleflags = GPIOHANDLE_REQUEST_INPUT; event_req.eventflags = GPIOEVENT_REQUEST_FALLING_EDGE|GPIOEVENT_REQUEST_RISING_EDGE; ret = ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, &event_req); // event测试的时候用这个 if (ret == -1) { ret = -errno; fprintf(stderr, "Failed to issue GET LINEHANDLE IOCTL (%d)\n", ret); } key_1_fd = event_req.fd; int flags = fcntl(key_1_fd,F_GETFL,0); flags |= O_NONBLOCK; fcntl(key_1_fd,F_SETFL,flags); event_req.lineoffset = 8; //TODO event_req.handleflags = GPIOHANDLE_REQUEST_INPUT; event_req.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES; ret = ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, &event_req); // event测试的时候用这个 if (ret == -1) { ret = -errno; fprintf(stderr, "Failed to issue GET LINEHANDLE IOCTL (%d)\n", ret); } key_3_fd = event_req.fd; flags = fcntl(key_3_fd,F_GETFL,0); flags |= O_NONBLOCK; fcntl(key_3_fd,F_SETFL,flags); #if 0 event_req.lineoffset = 5; //TODO event_req.handleflags = GPIOHANDLE_REQUEST_INPUT; event_req.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES; ret = ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, &event_req); // event测试的时候用这个 if (ret == -1) { ret = -errno; fprintf(stderr, "Failed to issue GET LINEHANDLE IOCTL (%d)\n", ret); } fire_fd = event_req.fd; flags = fcntl(fire_fd,F_GETFL,0); flags |= O_NONBLOCK; fcntl(fire_fd,F_SETFL,flags); #endif // fire req.lineoffsets[0] = 5; req.flags = GPIOHANDLE_REQUEST_INPUT; // strcpy(req.consumer_label, "fire"); req.lines = 1; memcpy(req.default_values, &data, sizeof(req.default_values)); ret = ioctl(fd, GPIO_GET_LINEHANDLE_IOCTL, &req); if (ret == -1) { fprintf(stderr, "Failed to issue %s (%d), %s\n", "GPIO_GET_LINEHANDLE_IOCTL", ret, strerror(errno)); } fire_fd = req.fd; // key2 req.lineoffsets[0] = 7; req.flags = GPIOHANDLE_REQUEST_INPUT; // strcpy(req.consumer_label, "key2"); req.lines = 1; memcpy(req.default_values, &data, sizeof(req.default_values)); ret = ioctl(fd, GPIO_GET_LINEHANDLE_IOCTL, &req); if (ret == -1) { fprintf(stderr, "Failed to issue %s (%d), %s\n", "GPIO_GET_LINEHANDLE_IOCTL", ret, strerror(errno)); } key_2_fd = req.fd; // people req.lineoffsets[0] = 12; req.flags = GPIOHANDLE_REQUEST_INPUT; // strcpy(req.consumer_label, "key2"); req.lines = 1; memcpy(req.default_values, &data, sizeof(req.default_values)); ret = ioctl(fd, GPIO_GET_LINEHANDLE_IOCTL, &req); if (ret == -1) { fprintf(stderr, "Failed to issue %s (%d), %s\n", "GPIO_GET_LINEHANDLE_IOCTL", ret, strerror(errno)); } people_fd = req.fd; return true; } bool gpio_E_open(const char device = "/dev/gpiochip4") { int ret; int fd = open(device,O_RDONLY|O_NONBLOCK); if(fd < 0) { fprintf(stderr,"open"); return false; } event_req.lineoffset = 15; //TODO event_req.handleflags = GPIOHANDLE_REQUEST_INPUT; event_req.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES; ret = ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, &event_req); // event测试的时候用这个 if (ret == -1) { ret = -errno; fprintf(stderr, "Failed to issue GET LINEHANDLE IOCTL (%d)\n", ret); } light_trigger_fd = event_req.fd; int flags = fcntl(light_trigger_fd,F_GETFL,0); flags |= O_NONBLOCK; fcntl(light_trigger_fd,F_SETFL,flags); return true; } /* * Description: 关闭设备 * input: null * output: null * return: 成功true/失败false / bool close(void); public slots: void time_out() { static int key_1_flag = 0; static int key_2_flag = 0; static int key_3_flag = 0; static int light_trigger_flag = 0; static int people_flag = 0; static int flame_flag = 0; //捕获key_1按下 read(key_1_fd,&event_data,sizeof (event_data)); if(event_data.id == 2) { key_1_flag = 1; emit(this->keyPressed(1)); //qDebug()<<"key_1 pressed"; event_data.id = 0; } else if(event_data.id == 1 && key_1_flag==1) { key_1_flag = 0; emit keyRelessed(1); //qDebug()<<"key_1 relessed"; } event_data.id = 0; //捕获key_2按下 int ret = ioctl(key_2_fd, GPIOHANDLE_GET_LINE_VALUES_IOCTL, &data); if (ret == -1) { ret = -errno; fprintf(stderr, "Failed to issue %s (%d), %s\n", "GPIOHANDLE_GET_LINE_VALUES_IOCTL", ret, strerror(errno)); exit(ret); } //qDebug() << "==========" << data.values[0]; if(data.values[0] ==0&&key_2_flag==0) { emit(this->keyPressed(2)); key_2_flag = 1; //qDebug()<<"key_2 pressed"; } else if(data.values[0] ==1&&key_2_flag==1) { key_2_flag = 0; emit keyRelessed(2); //qDebug()<<"key_2 relessed"; } //event_data.id = 0; //捕获key_3按下 read(key_3_fd,&event_data,sizeof (event_data)); //qDebug() << "key3 "<< event_data.id; if(event_data.id == 2 && key_3_flag==0) { key_3_flag = 1; emit(this->keyPressed(3)); //qDebug()<<"key_3 pressed"; event_data.id = 0; } else if(event_data.id == 1 && key_3_flag==1) { key_3_flag = 0; emit keyRelessed(3); //qDebug()<<"key_3 relessed"; } event_data.id = 0; //捕获光电开关 read(light_trigger_fd,&event_data,sizeof (event_data)); if(event_data.id == 1 && light_trigger_flag==0) { //qDebug()<<"light triggered"; light_trigger_flag = 1; emit(this->lightTriggered()); } else light_trigger_flag = 0; event_data.id = 0; //捕获people coming ret = ioctl(people_fd, GPIOHANDLE_GET_LINE_VALUES_IOCTL, &data); if (ret == -1) { ret = -errno; fprintf(stderr, "Failed to issue %s (%d), %s\n", "GPIOHANDLE_GET_LINE_VALUES_IOCTL", ret, strerror(errno)); exit(ret); } if(data.values[0] ==1&&people_flag==0) { emit(this->peopleDetected(true)); people_flag = 1; //qDebug()<<"people coming"; } else if(data.values[0] ==0&&people_flag==1) { people_flag = 0; emit(this->peopleDetected(false)); //qDebug()<<"people leave"; } #if 0 //捕获火焰检测 read(fire_fd,&event_data,sizeof (event_data)); qDebug() << "------------------"<<event_data.id; if(event_data.id == 2 && flame_flag == 0) { qDebug()<<"flamedetection on"; flame_flag = 1; emit(this->flameDetected(true)); event_data.id = 0; } else if(event_data.id == 0 && flame_flag == 1) { qDebug()<<"flamedetection off"; flame_flag = 0; emit(this->flameDetected(false)); event_data.id = 0; } #endif //捕获key_2按下 ret = ioctl(fire_fd, GPIOHANDLE_GET_LINE_VALUES_IOCTL, &data); if (ret == -1) { ret = -errno; fprintf(stderr, "Failed to issue %s (%d), %s\n", "GPIOHANDLE_GET_LINE_VALUES_IOCTL", ret, strerror(errno)); exit(ret); } //qDebug() << data.values[0]; if(data.values[0] ==1&&flame_flag==0) { emit(this->flameDetected()); flame_flag = 1; //qDebug()<<"flame on"; } else flame_flag = 0; } private: struct gpiohandle_request req; struct gpiohandle_data data; struct gpiochip_info chip_info; struct gpioevent_request event_req; struct gpioevent_data event_data; struct gpiod_chip gpiochip5; struct gpiod_line gpioline5_7; int key_1_fd; //设备文件描述符 int key_2_fd; int key_3_fd; int light_trigger_fd; int people_fd; int fire_fd; QTimer fs_timer; }; #endif //ENV_H ------------------------------------------------------- fsmpFan.h： #ifndef FAN_H #define FAN_H /*************************************************************************** * * 类名：fsmpFan * 功能说明：扩展板风扇控制 * 公有函数： * fsmpFan（） * void start(void) 开启风扇） * void stop(void) 关闭风扇 * void setSpeed(int speed) 设置风扇速度（0-255） * 信号： * 无 * * *************************************************************************/ #include <QObject> #include #include <string.h> #include <fcntl.h> #include <stdio.h> #include <stdlib.h> #include <unistd.h> #include <QIODevice> class fsmpFan:public QObject{ Q_OBJECT public: explicit fsmpFan(QObject parent = nullptr):QObject(parent) { const char device = "/sys/class/hwmon/hwmon1/pwm1"; fan_fd = ::open(device,O_WRONLY|O_TRUNC); if(fan_fd < 0) { perror("open fan"); return; } fan_speed = 0; }; ~fsmpFan(){ ::close(fan_fd); } /* * Description: 关闭设备 * input: null * output: null * return: 成功true/失败false / void stop(void) { write(fan_fd,"0",strlen("0")); } / * Description: start设备 * input: null * output: null * return: 成功true/失败false / void start(void) { char speedstr[100] = {0}; sprintf(speedstr, "%d", fan_speed); write(fan_fd, speedstr, strlen(speedstr)); } / * Description: 控制风扇转速 * intput: speed 转速 * output: null * return: null */ void setSpeed(int speed) { fan_speed = speed%255; } private: int fan_fd; //设备文件描述符 int fan_speed; }; #endif // FAN_H ------------------------------------------------------- fsmpLeds.h： #ifndef LED_H #define LED_H /*************************************************************************** * * 类名：fsmpLeds * 功能说明：扩展板 3颗灯泡 * 公有函数： * fsmpLeds（） * bool on(lednum x) 开灯 lednum： fsmpLeds::LED1/fsmpLeds::LED2/fsmpLeds::LED3 * bool off(lednum x) 关灯 lednum： fsmpLeds::LED1/fsmpLeds::LED2/fsmpLeds::LED3 * 信号： * 无 * * *************************************************************************/ #include <QObject> #include #include <string.h> #include <fcntl.h> #include <stdio.h> #include <stdlib.h> #include <unistd.h> #include <QIODevice> class fsmpLeds:public QObject{ Q_OBJECT public: enum lednum{ LED1, LED2, LED3 }; explicit fsmpLeds(QObject parent = nullptr) :QObject(parent) { led_fd1 = ::open("/sys/class/leds/led1/brightness",O_WRONLY|O_TRUNC); if(led_fd1 < 0) { perror("open led1"); return ; } led_fd2 = ::open("/sys/class/leds/led2/brightness",O_WRONLY|O_TRUNC); if(led_fd2 < 0) { perror("open led2"); return ; } led_fd3 = ::open("/sys/class/leds/led3/brightness",O_WRONLY|O_TRUNC); if(led_fd3 < 0) { perror("open led3"); return ; } } ~fsmpLeds() { ::close(led_fd1); ::close(led_fd2); ::close(led_fd3); } / * Description: 开启设备，默认/sys/class/leds/led1/brightness * input: lednum * output: null * return: 成功true/失败false / bool on(lednum x) { int fd; if(x == LED1) fd = led_fd1; else if(x == LED2) fd = led_fd2; else if(x == LED3){ fd = led_fd3; } int ret = write(fd,"1",1); if(ret < 0) { return false; } return true; } / * Description: 关闭设备 * input: null * output: null * return: 成功true/失败false */ bool off(lednum x) { int fd; if(x == LED1) fd = led_fd1; else if(x == LED2) fd = led_fd2; else if(x == LED3){ fd = led_fd3; } int ret = write(fd,"0",1); if(ret < 0) { return false; } return true; } private: int led_fd1; //设备文件描述符 int led_fd2; //设备文件描述符 int led_fd3; //设备文件描述符 }; #endif // LED_H ------------------------------------------------------- fsmpLight.h： #ifndef LIGHT_H #define LIGHT_H /*************************************************************************** * * 类名：fsmpLight * 功能说明：扩展板光照强度检测 * 公有函数： * fsmpLight（） * double getValue(void) 获取光照强度 * * 信号： * 无 * * *************************************************************************/ #include <QObject> #include #include <string.h> #include <fcntl.h> #include <stdio.h> #include <stdlib.h> #include <unistd.h> #include <QIODevice> #include <QDebug> class fsmpLight:public QObject{ Q_OBJECT public: explicit fsmpLight(QObject parent = nullptr) :QObject(parent) { light_fd = ::open("/sys/bus/iio/devices/iio:device1/in_illuminance_input",O_RDONLY|O_NONBLOCK); if(light_fd < 0) { perror("open"); return; } } ~fsmpLight() { ::close(light_fd); } / * Description: 获取光照强度 * input: null * output: null * return: current light */ double getValue(void) { char buf[10] = {0}; int ret = read(light_fd,buf,10); if(ret < 0) { perror("read"); return false; } double num; sscanf(buf, "%lf", &num); lseek(light_fd, 0, SEEK_SET); return num; } private: int light_fd; //设备文件描述符 }; #endif // LIGHT_H ------------------------------------------------------- fsmpProximity.h： #ifndef FSMPPROXIMITY_H #define FSMPPROXIMITY_H /*************************************************************************** * * 类名：fsmpProximity * 功能说明：扩展板红外接近传感器（和光照传感器一起） * 公有函数： * fsmpProximity（） * double getValue(void) 获取接近情况（0-2048越接近数据越大） * * 信号： * 无 * * *************************************************************************/ #include <QObject> #include #include <string.h> #include <fcntl.h> #include <stdio.h> #include <stdlib.h> #include <unistd.h> #include <QIODevice> #include <QDebug> class fsmpProximity:public QObject{ Q_OBJECT public: explicit fsmpProximity(QObject parent = nullptr) :QObject(parent) { proximity_fd = ::open("/sys/bus/iio/devices/iio:device1/in_proximity_raw",O_RDONLY|O_NONBLOCK); if(proximity_fd < 0) { perror("open"); return; } } ~fsmpProximity() { ::close(proximity_fd); } / * Description: 获取distence * input: null * output: null * return: current light */ int getValue(void) { char buf[10] = {0}; int ret = read(proximity_fd,buf,10); if(ret < 0) { perror("read"); return false; } int num; sscanf(buf, "%d", &num); lseek(proximity_fd, 0, SEEK_SET); return num; } private: int proximity_fd; //设备文件描述符 }; #endif // FSMPPROXIMITY_H ------------------------------------------------------- fsmpSevensegLed.h： #ifndef FSMPSEVENSEGLED_H #define FSMPSEVENSEGLED_H /*************************************************************************** * * 类名：fsmpSevensegLed * 功能说明：扩展板七段数码管 * 公有函数： * fsmpSevensegLed（） * void display(int value) 显示4位以内整数 * void display(const char str) 显示4位字符，注：仅支持 a、b、c、d、e * 信号： * 无 * * *************************************************************************/ #include <stdint.h> #include <unistd.h> #include <stdio.h> #include <stdlib.h> #include <getopt.h> #include <fcntl.h> #include <sys/ioctl.h> #include #include #include <QThread> #include <stdlib.h> #define ARRAY_SIZE(a) (sizeof(a) / sizeof((a)[0])) class fsmpSevensegLed:public QThread{ Q_OBJECT public: explicit fsmpSevensegLed(QObject parent = nullptr) :QThread(parent) { memset(data, 0, sizeof(data)); device = "/dev/spidev0.0"; bits = 8; speed = 400000; delay = 0; } void display(int value) { data[3] = value%10; data[2] = value/10%10; data[1] = value/100%10; data[0] = value/1000%10; } //"abcde" void display(const char str) { data[3] = (strlen(str)-1 >= 0)?(str[strlen(str)-1] - 'a')+10:0; data[2] = (strlen(str)-2 >= 0)?(str[strlen(str)-2] - 'a')+10:0; data[1] = (strlen(str)-3 >= 0)?(str[strlen(str)-3] - 'a')+10:0; data[0] = (strlen(str)-4 >= 0)?(str[strlen(str)-4] - 'a')+10:0; } private: void run() { int ret = 0; int fd; fd = open(device, O_RDWR); //打开设备文件 if (fd < 0) pabort("can't open device"); /* * spi mode //设置spi设备模式 / ret = ioctl(fd, SPI_IOC_WR_MODE, &mode); //写模式 if (ret == -1) pabort("can't set spi mode"); / * bits per word //设置每个字含多少位 / ret = ioctl(fd, SPI_IOC_WR_BITS_PER_WORD, &bits); //写每个字含多少位 if (ret == -1) pabort("can't set bits per word"); / * max speed hz //设置速率 / ret = ioctl(fd, SPI_IOC_WR_MAX_SPEED_HZ, &speed); //写速率 if (ret == -1) pabort("can't set max speed hz"); //打印模式,每字多少位和速率信息 printf("spi mode: %d\n", mode); printf("bits per word: %d\n", bits); printf("max speed: %d Hz (%d KHz)\n", speed, speed/1000); //transfer(fd); //传输测试 int i = 0; int pos = 0; unsigned char buf[2]; while(1) { pos = 1 << (i % 4); buf[0] = pos; buf[1] = num[data[i]]; if (write(fd, buf, 2) < 0) perror("write"); i++; if (i == 4) { i = 0; } usleep(3500); } } static void pabort(const char s) { perror(s); abort(); } const char *device; uint8_t mode; uint8_t bits; uint32_t speed; uint16_t delay; int data[4]; unsigned char num[20] = {0x3f, 0x06, 0x5b, 0x4f, 0x66, 0x6d, 0x7d, 0x07, 0x7f, 0x6f, 0x77, 0x7c, 0x39, 0x5e, 0x79, 0x71}; }; #endif // FSMPSEVENSEGLED_H ------------------------------------------------------- fsmpTempHum.h： #ifndef TEMPHUM_H #define TEMPHUM_H /*************************************************************************** * * 类名：fsmpTempHum * 功能说明：扩展板温度湿度 * 公有函数： * fsmpTempHum（） * double temperature(void) 提取温度 * double humidity(void) 提取湿度 * * 信号： * 无 * * *************************************************************************/ #include <QObject> #include #include <string.h> #include <fcntl.h> #include <stdio.h> #include <stdlib.h> #include <unistd.h> #include <QIODevice> #include <stdint.h> #include <QDebug> class fsmpTempHum:public QObject{ Q_OBJECT public: explicit fsmpTempHum(QObject parent = nullptr) :QObject(parent) { } double temperature(void) { int temp_raw = 0; int temp_offset = 0; float temp_scale = 0; open_device_int("iio:device0","in_temp_raw",&temp_raw); open_device_int("iio:device0","in_temp_offset",&temp_offset); open_device_float("iio:device0","in_temp_scale",&temp_scale); return (temp_raw + temp_offset) temp_scale / 1000; } double humidity(void) { int hum_raw = 0; int hum_offset = 0; float hum_scale = 0; open_device_int("iio:device0","in_humidityrelative_raw",&hum_raw); open_device_int("iio:device0","in_humidityrelative_offset",&hum_offset); open_device_float("iio:device0","in_humidityrelative_scale",&hum_scale); return (hum_raw + hum_offset) * hum_scale / 1000; } private: bool open_device_int(const char device, const char filename, int val) { int ret = 0; int fd; char temp[128] = {0}; sprintf(temp, "/sys/bus/iio/devices/%s/%s", device, filename); fd = open(temp,O_RDONLY|O_NONBLOCK); if(fd < 0) { perror("open"); return false; } char buf[10] = {0}; ret = read(fd,buf,sizeof(buf)); if(ret < 0) { perror("read"); return false; } sscanf(buf,"%d",val); ::close(fd); return true; } bool open_device_float(const char device, const char filename, float val) { int ret = 0; int fd; char temp[128] = {0}; sprintf(temp, "/sys/bus/iio/devices/%s/%s", device, filename); fd = open(temp,O_RDONLY|O_NONBLOCK); if(fd < 0) { perror("open"); return false; } char buf[10] = {0}; ret = read(fd,buf,sizeof(buf)); if(ret < 0) { perror("read"); return false; } sscanf(buf,"%f",val); ::close(fd); return true; } private: int temp_hum_fd;; //设备文件描述符 }; #endif // TEMPHUM_H ------------------------------------------------------- fsmpVibrator.h： #ifndef VIBRATOR_H #define VIBRATOR_H /*************************************************************************** * * 类名：fsmpVibrator * 功能说明：扩展板振动马达 * 公有函数： * fsmpVibrator（） * bool setParameter(int strong_magnitude, int timems) 设置振动强度（0-0xffff）及时长（ms） * bool start(void) 启动马达 * bool stop(void) 停止马达 * * 信号： * 无 * * *************************************************************************/ #include <QObject> #include #include <string.h> #include <fcntl.h> #include <stdio.h> #include <stdlib.h> #include <unistd.h> #include <QIODevice> #include <sys/ioctl.h> #include <QDebug> class fsmpVibrator:public QObject{ Q_OBJECT public: explicit fsmpVibrator(QObject parent = nullptr) :QObject(parent) { vibrator_fd = ::open("/dev/input/event1", O_RDWR|O_NONBLOCK); if(vibrator_fd < 0) { perror("open vibrator"); } } ~fsmpVibrator() { ::close(vibrator_fd); } / * Description:设置 * input:频率 * output：null * return：成功true/失败false / bool setParameter(int strong_magnitude = 0xFFFF, int timems = 5000) { //qDebug()<<strong_magnitude<<timems; effect.type = FF_RUMBLE, effect.id = -1, effect.u.rumble.strong_magnitude = strong_magnitude; effect.u.rumble.weak_magnitude = 0; effect.replay.length = timems; effect.replay.delay = 0; if (ioctl(vibrator_fd, EVIOCSFF, &effect) < 0) { printf("Error creating new effect: %s\n", strerror(errno)); return false; } return true; } bool start(void) { struct input_event play = { .type = EV_FF, .code = (__U16_TYPE)effect.id, .value = 1 }; int ret = write(vibrator_fd, (const void) &play, sizeof(play)); if(ret < 0) { perror("vibrator on"); return false; } //qDebug()<<"start"; return true; } bool stop(void) { struct input_event play = { .type = EV_FF, .code = (__U16_TYPE)effect.id, .value = 0 }; int ret = write(vibrator_fd, (const void*) &play, sizeof(play)); if(ret < 0) { perror("vibrator off"); return false; } //qDebug()<<"stop"; return true; } private: int vibrator_fd;//设备文件描述符 struct ff_effect effect; }; #endif // VIBRATOR_H ------------------------------------------------------- 项目目的：在Linux下通过qtcreator编写后通过st-mp1构建部署到远程Linux主机后，在Stm32mp157开发板上能够控制本身的硬件同时也能同步控制华清远见元宇宙实验中心物联网仿真系统内的模拟硬件。并且通过Desktop Qt5.12.12 GCC64bit构建部署到Deploy Configuration时，能够控制Stm32mp157开发板上的硬件同时也能同步控制华清远见元宇宙实验中心物联网仿真系统内的模拟硬件。设计要求： 1. 通过点击pb_connect（连接按钮）按钮可以连接到云端mqtt，连接成功则弹出小窗提示连接成功并自动绑定订阅与发布功能、连接失败则弹出小窗提示连接失败，弹出的小窗有一个确定键，点击确定关闭小窗。 2. 点击按钮pb_led0打开Stm32mp157开发板上的LD1灯且同步打开华清远见元宇宙实验中心物联网仿真系统内的电灯0，此时按钮pb_led0上的文本(初始化为led0_on)变更为led0_off。再次点击按钮pb_led0时关闭Stm32mp157开发板上的LD1灯且同步关闭华清远见元宇宙实验中心物联网仿真系统内的电灯0，此时按钮pb_led0上的文本(此时为led0_off)变更为led0_on。按钮pb_led1和pb_led2也是相同理论。 3. 点击按钮pb_feng打开Stm32mp157开发板上的风扇且同步打开华清远见元宇宙实验中心物联网仿真系统内的风扇，此时按钮pb_feng上的文本(初始化为feng_on)变更为feng_off。再次点击按钮pb_feng时关闭Stm32mp157开发板上的风扇且同步关闭华清远见元宇宙实验中心物联网仿真系统内的风扇，此时按钮pb_feng上的文本(此时为feng_off)变更为feng_on。 4. 点击按钮pb_buzzer打开Stm32mp157开发板上的蜂鸣器，此时按钮pb_buzzer上的文本(初始化为：蜂鸣器_on)变更为蜂鸣器_off。再次点击按钮pb_buzzer时关闭Stm32mp157开发板上的蜂鸣器，此时按钮pb_buzzer上的文本(此时为：蜂鸣器_off)变更为蜂鸣器_on。 5. 点击按钮pb_humiture时，打开Stm32mp157开发板上的温湿度传感器并将数据显示在textBrowser组件上。此时按钮pb_humiture上的文本(初始化为：温湿度_on)变更为温湿度_off。再次点击按钮pb_humiture时关闭Stm32mp157开发板上的温湿度传感器，此时按钮pb_humiture上的文本(此时为：温湿度_off)变更为温湿度_on。（需添加功能：打开Stm32mp157开发板上的温湿度传感器后，当温度超过30度时蜂鸣器会立即开启，低于30度或者直接点击按钮pb_buzzer都可关闭蜂鸣器） 6. 点击按钮pb_photosensitive时，打开Stm32mp157开发板上的光敏传感器并将数据显示在textBrowser组件上。此时按钮pb_photosensitive上的文本(初始化为：光敏_on)变更为光敏_off。再次点击按钮pb_photosensitive时关闭Stm32mp157开发板上的光敏传感器，此时按钮pb_photosensitive上的文本(此时为：光敏_off)变更为光敏_on。 7. 点击按钮pb_infrared时，打开Stm32mp157开发板上的人体红外传感器并将数据显示在textBrowser组件上。此时按钮pb_infrared上的文本(初始化为：人体红外_on)变更为人体红外_off。再次点击按钮pb_infrared时关闭Stm32mp157开发板上的人体红外传感器，此时按钮pb_infrared上的文本(此时为：人体红外_off)变更为人体红外_on。 8. 点击按钮pb_camera时打开Stm32mp157开发板上的摄像头并将采集到的图像在屏幕界面的右侧显示出来（目前项目中没有设计用于显示摄像头采集图像显示的组件，需要添加）。此时按钮pb_camera上的文本(初始化为：摄像头_on)变更为摄像头off。再次点击按钮pb_camera时关闭Stm32mp157开发板上的摄像头，此时按钮pb_camera上的文本(此时为：摄像头_off)摄像头_on，并关闭摄像头采集的图像显示界面。结合以上代码及要求，进行完整详细的项目开发，如有需要可以添加项目结构内缺失的文件（项目结构内缺失硬件的.cpp文件），硬件.h文件不可进行修改。整合后将项目的所有文件发我，让我复制粘贴就能直接使用

<think>好的，我现在需要帮助用户整合他们的项目代码，并满足所有的设计要求。首先，用户已经提供了所有的头文件和现有的UI代码，但缺少一些关键的实现部分，特别是MQTT通信、硬件控制与虚拟系统的同步，以及摄像头...

相关推荐

#include

pcf8563_i2c1_r8_ruoge_ov2640通过给RTC驱动增加设备节点读取秒钟成功+直接读取I2C1获取秒钟值20160626_2201.7z

fatal error: json-c/json.h: No such file or directory | #include <json-c/json.h>报错，请问我应该怎么解决，请详细解答，并举例子

#include <stdio.h> struct{ int len; char *str; }*p; int main(){ char a[3] = {'a', 'b', 'c'}; p->str = a; //printf("%c", *(++p->str)); printf("%c", a[0]); return 0; } 请给出上述C语言的输出结果。

#include <stdio.h> #include <string.h> typedef struct{ int a1[10]; }arr1; typedef struct{ arr1 a2[10]; }arr2; int main() { int i,j; arr2 d2; memset(d2,1,sizeof(d2)); for(i=0;i<10;i++){ for(j=0;j<10;j++) printf("%d,",*(*(d2+j)+i)); printf("\n"); } return 0; }

大家在看

公开公开公开公开-openprotocol_specification 2.7

中国联通OSS系统总体框架

基于 ADS9110的隔离式数据采集 (DAQ) 系统方案（待编辑）-电路方案

自动化图书管理系统 v7.0

MOXA UPort1110drvUSB转串口驱动

最新推荐

{团队建设}网络渠道部团队规划手册.pdf

快速付里叶变换FFTFastFourietTransformer(1).pptx

Wamp5: 一键配置ASP/PHP/HTML服务器工具

【数据融合技术】：甘肃土壤类型空间分析中的专业性应用

sht20温湿度传感器使用什么将上拉电阻和滤波电容引出

Delphi仿速达财务软件导航条组件开发教程

【空间分布规律】：甘肃土壤类型与农业生产的关联性研究

常见运放电路的基本结构和基本原理

ASP.NET2.0初学者个人网站实例分享

【制图技术】：甘肃高质量土壤分布TIF图件的成图策略

#include <stdio.h> struct{ int len; char str; }p; int main(){ char a[3] = {'a', 'b', 'c'}; p->str = a; //printf("%c", *(++p->str)); printf("%c", a[0]); return 0; } 请给出上述C语言的输出结果。

#include <stdio.h> #include <string.h> typedef struct{ int a1[10]; }arr1; typedef struct{ arr1 a2[10]; }arr2; int main() { int i,j; arr2 d2; memset(d2,1,sizeof(d2)); for(i=0;i<10;i++){ for(j=0;j<10;j++) printf("%d,",((d2+j)+i)); printf("\n"); } return 0; }