auto __thiscall iCTPWidgetCTPWidget::createConnect:

本文详细记录了一次使用CTP交易接口时遇到的异常情况,包括用户登录响应无错误,但随后出现内存访问冲突异常,多次尝试订阅市场数据也返回无错误。通过对异常堆栈的分析,旨在找出问题根源并提供解决方案。

auto __thiscall iCTPWidgetCTPWidget::createConnect::<lambda_9a36d6cb6602a589c22b07d13e42587c>::operator ()(void) const 0
OnRspUserLogin:

ErrorCode=[0], ErrorMsg=[CTP:No Error]

RequestID=[0], Chain=[1]

OnRspUserLogin:

ErrorCode=[0], ErrorMsg=[��ȷ]

RequestID=[0], Chain=[1]

auto __thiscall iCTPWidgetCTPWidget::createConnect::<lambda_1dca81dc075f1f08e57cb7b860019dd7>::operator ()(bool) const true
auto __thiscall iCTPWidgetCTPWidget::createConnect::<lambda_3b069fc514849fef62185ddea18b8ee0>::operator ()(bool) const true
0x50A31A34 (thosttraderapi.dll)处(位于 QtCTP.exe 中)引发的异常: 0xC0000005: 读取位置 0x00550070 时发生访问冲突。
sub ok? 0
void __thiscall iCTPWidgetMarketDataApi::OnRspSubMarketData(struct CThostFtdcSpecificInstrumentField *,struct CThostFtdcRspInfoField *,int,bool) CTP:No Error
void __thiscall iCTPWidgetMarketDataApi::OnRspSubMarketData(struct CThostFtdcSpecificInstrumentField *,struct CThostFtdcRspInfoField *,int,bool) CTP:No Error
void __thiscall iCTPWidgetMarketDataApi::OnRspSubMarketData(struct CThostFtdcSpecificInstrumentField *,struct CThostFtdcRspInfoField *,int,bool) CTP:No Error
void __thiscall iCTPWidgetMarketDataApi::OnRspSubMarketData(struct CThostFtdcSpecificInstrumentField *,struct CThostFtdcRspInfoField *,int,bool) CTP:No Error
void __thiscall iCTPWidgetMarketDataApi::OnRspSubMarketData(struct CThostFtdcSpecificInstrumentField *,struct CThostFtdcRspInfoField *,int,bool) CTP:No Error
void __thiscall iCTPWidgetMarketDataApi::OnRspSubMarketData(struct CThostFtdcSpecificInstrumentField *,struct CThostFtdcRspInfoField *,int,bool) CTP:No Error
void __thiscall iCTPWidgetMarketDataApi::OnRspSubMarketData(struct CThostFtdcSpecificInstrumentField *,struct CThostFtdcRspInfoField *,int,bool) CTP:No Error
void __thiscall iCTPWidgetMarketDataApi::OnRspSubMarketData(struct CThostFtdcSpecificInstrumentField *,struct CThostFtdcRspInfoField *,int,bool) CTP:No Error
void __thiscall iCTPWidgetMarketDataApi::OnRspSubMarketData(struct CThostFtdcSpecificInstrumentField *,struct CThostFtdcRspInfoField *,int,bool) CTP:No Error
void __thiscall iCTPWidgetMarketDataApi::OnRspSubMarketData(struct CThostFtdcSpecificInstrumentField *,struct CThostFtdcRspInfoField *,int,bool) CTP:No Error
void __thiscall iCTPWidgetMarketDataApi::OnRspSubMarketData(struct CThostFtdcSpecificInstrumentField *,struct CThostFtdcRspInfoField *,int,bool) CTP:No Error
void __thiscall iCTPWidgetMarketDataApi::OnRspSubMarketData(struct CThostFtdcSpecificInstrumentField *,struct CThostFtdcRspInfoField *,int,bool) CTP:No Error
void __thiscall iCTPWidgetMarketDataApi::OnRspSubMarketData(struct CThostFtdcSpecificInstrumentField *,struct CThostFtdcRspInfoField *,int,bool) CTP:No Error
void __thiscall iCTPWidgetMarketDataApi::OnRspSubMarketData(struct CThostFtdcSpecificInstrumentField *,struct CThostFtdcRspInfoField *,int,bool) CTP:No Error
void __thiscall iCTPWidgetMarketDataApi::OnRspSubMarketData(struct CThostFtdcSpecificInstrumentField *,struct CThostFtdcRspInfoField *,int,bool) CTP:No Error
void __thiscall iCTPWidgetMarketDataApi::OnRspSubMarketData(struct CThostFtdcSpecificInstrumentField *,struct CThostFtdcRspInfoField *,int,bool) CTP:No Error
0x50A31A34 (thosttraderapi.dll) (QtCTP.exe 中)处有未经处理的异常: 0xC0000005: 读取位置 0x00550070 时发生访问冲突。

### 解决ROS2中`create_publisher`函数调用错误的问题 在ROS2中,`create_publisher`函数的调用需要提供三个参数:消息类型、话题名称和QoS配置。如果调用时提供的参数数量或类型不正确,会导致编译错误。以下是针对`hesai_lidar`包中`create_publisher`函数调用错误的详细分析与解决方案。 #### 1. 确保`create_publisher`函数调用格式正确 根据错误信息,`create_publisher`函数调用时仅提供了话题名称,而缺少QoS配置参数。正确的调用格式如下: ```cpp this->create_publisher<sensor_msgs::msg::PointCloud2>("pandar", rclcpp::QoS(10)); ``` 在此示例中,`rclcpp::QoS(10)`表示设置队列长度为10的QoS策略[^1]。 #### 2. 包含必要的头文件 确保在代码文件中包含了`sensor_msgs`相关的头文件,例如: ```cpp #include "sensor_msgs/msg/point_cloud2.hpp" ``` 此外,还需要包含`rclcpp`的头文件以支持ROS2节点功能: ```cpp #include "rclcpp/rclcpp.hpp" ``` #### 3. 示例代码 以下是一个完整的示例代码,展示如何正确使用`create_publisher`函数发布`sensor_msgs::msg::PointCloud2`消息: ```cpp #include "rclcpp/rclcpp.hpp" #include "sensor_msgs/msg/point_cloud2.hpp" class PointCloudPublisher : public rclcpp::Node { public: PointCloudPublisher() : Node("pointcloud_publisher") { publisher_ = this->create_publisher<sensor_msgs::msg::PointCloud2>("pandar", rclcpp::QoS(10)); timer_ = this->create_wall_timer( 500ms, std::bind(&PointCloudPublisher::publish_point_cloud, this)); } private: void publish_point_cloud() { auto message = sensor_msgs::msg::PointCloud2(); // 设置点云消息的字段(如高度、宽度、点步长等) message.height = 1; message.width = 10; message.is_dense = true; message.point_step = 32; // 假设每个点占用32字节 message.row_step = message.point_step * message.width; message.data.resize(message.row_step * message.height); publisher_->publish(message); } rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr publisher_; rclcpp::TimerBase::SharedPtr timer_; }; int main(int argc, char *argv[]) { rclcpp::init(argc, argv); rclcpp::spin(std::make_shared<PointCloudPublisher>()); rclcpp::shutdown(); return 0; } ``` #### 4. 检查`package.xml`和`CMakeLists.txt` 确保`package.xml`文件中声明了对`sensor_msgs`的依赖: ```xml <depend>sensor_msgs</depend> ``` 同时,在`CMakeLists.txt`中添加以下内容以链接相关库: ```cmake find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) find_package(sensor_msgs REQUIRED) ament_target_dependencies(your_target_name rclcpp sensor_msgs) ``` ####
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