ptr_obj.cpp

C++ 继承示例

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

class Base
{
 public:
   void base_message(void) { cout << "This is the base class/n"; };
};

class Derived: public Base
{
 public:
   void derived_message(void) { cout << "This is the derived class/n" ; };
};

void main(void)
 {
   Base *base_pointer = new Base;
   Derived *derived_pointer = new Derived;

   base_pointer->base_message();
   derived_pointer->derived_message();
 }

 

#define CATCH_CONFIG_MAIN #ifdef CATCH_CONFIG_MAIN #include "LSP/catch2/catch.hpp" #include <time.h> #include "ad_msg.h" #include "util.h" #include "parse_proto_msg.h" #include "utils/log.h" #include "utils/gps_tools.h" #include "CruPlanningAlg.h" #include <thread> // #include "Klog.h" ////////Log header files // #include "ara/log/log_com.h" // #include "LSP/EnhancedAssertion.h" #include "map_msg_apollo.pb.h" using std::chrono::high_resolution_clock; using std::chrono::milliseconds; uint32_t g_TrajCalculateTime; // 全局控制变量 std::atomic<bool> running{true}; std::once_flag init_flag; // 确保初始化只执行一次 namespace mpa { namespace cru_planning_algorithm { TEST_CASE("CruPlanning01", "[CruPlanning]") { LOG_INFO(5) << " CruPlanning01--------------------"; CruiseTrajPlanning planner; // 确保初始化只执行一次 std::call_once(init_flag, [&] { planner.cruiseTrajPlanningInit("../conf/Cru_Planning_Parameter.yaml"); std::cout << "Cruise planning initialized once\n"; }); // 创建三个不同周期的线程 std::thread t1([&planner] { while(running) { planner.updateUserClockUs(); std::this_thread::sleep_for(std::chrono::milliseconds(10)); } }); std::thread t2([&planner] { while(running) { planner.checkModuleStatus(); std::this_thread::sleep_for(std::chrono::milliseconds(50)); } }); std::thread t3([&planner] { while(running) { // 先执行所有接收函数(模拟数据接收) std::string file_name = "../conf/map_1030.txt"; // std::string file_name = "./conf/DGMMap_mult_lane_1101.txt"; phoenix::msg::map::MapMsg map_msg; bool read_map = phoenix::framework::GetProtoFromASCIIFile(file_name, map_msg.mutable_hdmap()); if(read_map) { LOG_INFO(5) << "Read map ok"; std::cout << "The map is: \n" << map_msg.hdmap().DebugString() << std::endl; } else { LOG_INFO(5) << "Read map fail"; } Int32_t map_msg_serialize_size = map_msg.ByteSize(); std::shared_ptr<Char_t> map_data_array(new Char_t[map_msg_serialize_size], std::default_delete<Char_t[]>()); if (!map_msg.SerializeToArray(map_data_array.get(), map_msg_serialize_size)) { LOG_ERR << "Failed to serialize Map message."; } planner.recvMapMessage(map_data_array.get(), map_msg_serialize_size); phoenix::ad_msg::Chassis chassis_; chassis_.driving_mode = phoenix::ad_msg::VEH_DRIVING_MODE_ROBOTIC; chassis_.eps_status = phoenix::ad_msg::VEH_EPS_STATUS_ROBOTIC; chassis_.steering_wheel_angle_valid = 1; chassis_.steering_wheel_angle = 0; chassis_.v_valid = 1; chassis_.v = 30.0F/3.6F; chassis_.yaw_rate_valid = 1; chassis_.yaw_rate= 0; chassis_.gear = phoenix::ad_msg::VEH_GEAR_D; // Update message head chassis_.msg_head.valid = true; chassis_.msg_head.UpdateSequenceNum(); chassis_.msg_head.timestamp = phoenix::common::GetClockNowMs(); phoenix::msg::control::Chassis chassis_proto; phoenix::msg::ParseProtoMsg pase_proto; pase_proto.EncodeChassisMessage(chassis_,&chassis_proto); Int32_t chassis_proto_serialize_size = chassis_proto.ByteSize(); std::shared_ptr<Char_t> chassis_data_array(new Char_t[chassis_proto_serialize_size], std::default_delete<Char_t[]>()); if (!chassis_proto.SerializeToArray(chassis_data_array.get(), chassis_proto_serialize_size)) { LOG_ERR << "Failed to serialize chassis message."; } planner.recvChassisMessage(chassis_data_array.get(), chassis_proto_serialize_size); phoenix::ad_msg::Gnss gnss_; gnss_.msg_head.valid = true; gnss_.x_utm = 255877.829200091; gnss_.y_utm = 3371818.6588779385; // gnss_.x_utm = 255873.40718475843; // gnss_.y_utm = 3371819.0246172794; gnss_.z_utm = 0.0; gnss_.heading_utm = 0.0; gnss_.gnss_status = 3 ; gnss_.utm_status = 3 ; phoenix::msg::localization::Gnss gnss_proto; pase_proto.EncodeGnssMessage(gnss_,&gnss_proto); Int32_t gnss_proto_serialize_size = gnss_proto.ByteSize(); std::shared_ptr<Char_t> gnss_data_array(new Char_t[gnss_proto_serialize_size], std::default_delete<Char_t[]>()); if (!gnss_proto.SerializeToArray(gnss_data_array.get(), gnss_proto_serialize_size)) { LOG_ERR << "Failed to serialize gnss message."; } planner.recvGnssMessage(gnss_data_array.get(), gnss_proto_serialize_size); planner.recvImuMessage(nullptr, 0); phoenix::ad_msg::ObstacleList obstacle_list_; obstacle_list_.obstacles_els_num = 1; Float32_t obj_v = -10.0F / 3.6F; for (Int32_t i = 0; i < obstacle_list_.obstacles_els_num; ++i) { phoenix::ad_msg::Obstacle &obj = obstacle_list_.obstacles[i]; obj.id = 0; obj.x = 60.0F; //-0.5F * obj_v; obj.y = 0.0F; //-3.6F; obj.obb.x = obj.x + 1.0F; obj.obb.y = obj.y; obj.obb.heading = phoenix::common::com_deg2rad(0.0F); obj.obb.half_length = 2.0F; obj.obb.half_width = 1.0F; obj.type = phoenix::ad_msg::OBJ_TYPE_PASSENGER_VEHICLE; obj.dynamic = false; obj.confidence = 90; obj.perception_type = phoenix::ad_msg::OBJ_PRCP_TYPE_FUSED; obj.v = obj_v; obj.v_x = obj_v; obj.v_y = 0.0F; } // Update message head obstacle_list_.msg_head.valid = true; obstacle_list_.msg_head.UpdateSequenceNum(); obstacle_list_.msg_head.timestamp = phoenix::common::GetClockNowMs(); phoenix::msg::perception::ObstacleList obstacle_list_proto; pase_proto.EncodeObstacleListMessage(obstacle_list_,&obstacle_list_proto); Int32_t obstacle_list_proto_serialize_size = obstacle_list_proto.ByteSize(); std::shared_ptr<Char_t> obstacle_list_data_array(new Char_t[obstacle_list_proto_serialize_size], std::default_delete<Char_t[]>()); if (!obstacle_list_proto.SerializeToArray(obstacle_list_data_array.get(), obstacle_list_proto_serialize_size)) { LOG_ERR << "Failed to serialize obstacle list message."; } planner.recvPerceptionMessage(obstacle_list_data_array.get(), obstacle_list_proto_serialize_size); planner.recvLaneInfoCameraListMessage(nullptr, 0); phoenix::ad_msg::ParkingSystemStatus parking_system_status_; parking_system_status_.current_mode = phoenix::ad_msg::ParkingMode::CRUISE_MODE; phoenix::msg::parking::ParkingSystemStatus parking_system_status_proto; pase_proto.EncodeParkSystemStatusMessage(parking_system_status_,&parking_system_status_proto); Int32_t parking_system_status_proto_serialize_size = parking_system_status_proto.ByteSize(); std::shared_ptr<Char_t> parking_system_status_data_array(new Char_t[parking_system_status_proto_serialize_size], std::default_delete<Char_t[]>()); if (!parking_system_status_proto.SerializeToArray(parking_system_status_data_array.get(), parking_system_status_proto_serialize_size)) { LOG_ERR << "Failed to serialize parking system status message."; } planner.recvParkSystemStatusMessage(parking_system_status_data_array.get(), parking_system_status_proto_serialize_size); // 然后执行规划输出 const char* output_data; planner.cruiseTrajPlanningOutput(&output_data); // // 最后发送HMI消息 // planner.sendHmiMsg(); std::this_thread::sleep_for(std::chrono::milliseconds(100)); } }); // 主线程等待10秒 std::cout << "Running for 10 seconds...\n"; std::this_thread::sleep_for(std::chrono::seconds(10)); running = false; // 等待所有线程结束 t1.join(); t2.join(); t3.join(); std::cout << "All threads stopped\n"; } } } #endif /usr/bin/ld: CMakeFiles/planning.dir/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp.o: in function `main': CMakeCXXCompilerId.cpp:(.text+0x0): multiple definition of `main'; CMakeFiles/planning.dir/CruPlanningAlgTest.cpp.o:CruPlanningAlgTest.cpp:(.text+0x2b47d): first defined here collect2: error: ld returned 1 exit status make[2]: *** [CMakeFiles/planning.dir/build.make:2679: /home/cobo/shared_dirs/shared/MPA_Planning/planning] Error 1 make[1]: *** [CMakeFiles/Makefile2:76: CMakeFiles/planning.dir/all] Error 2 编译问题是什么?
最新发布
11-19
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