#
include "../
include/
include/realtime_utils/realtime_utils.hpp"
#
include <rclcpp/rclcpp.hpp>
#
include <std_msgs/msg/float64.hpp>
#
include <chrono>
#
include <thread>
#
include <vector>
#
include <str
ing>
#
include <memory>
#
include <atomic>
#
include <limits>
us
ing namespace std
::chrono_literals;
// 原子操作辅助工具
namespace atomic_utils {
template<typename T>
void atomic_update_max(std
::atomic<T>& atomic_var, T value) {
T current = atomic_var.load();
while (value > current &&
!atomic_var.compare_exchange_weak(current, value)) {}
}
template<typename T>
void atomic_update_m
in(std
::atomic<T>& atomic_var, T value) {
T current = atomic_var.load();
while (value < current &&
!atomic_var.compare_exchange_weak(current, value)) {}
}
}
// 多线程订阅者节点
class MultiThreadSubscriber
: public rclcpp
::Node {
public
:
// 线程统计结构（全原子操作）
struct ThreadStats {
std
::atomic<u
int64_t> message_count{0};
std
::atomic<u
int64_t> total_latency{0}; // 改为u
int64避免溢出
std
::atomic<
int64_t> max_latency{0};
std
::atomic<
int64_t> m
in_latency{std
::numeric_limits<
int64_t>
::max()};
// 原子重置方法
void reset() {
message_count = 0;
total_latency = 0;
max_latency = 0;
m
in_latency = std
::numeric_limits<
int64_t>
::max();
}
};
// 消息数据结构
struct MessageData {
double value;
std
::chrono
::steady_clock
::time_po
int receive_time;
int thread_id;
};
// 构造函数
MultiThreadSubscriber()
: Node("multithread_subscriber") {
// 参数声明
declare_parameter("thread_count", 4);
declare_parameter("process_time_us", 200);
// 获取参数
int thread_count = get_parameter("thread_count").as_
int();
int process_time = get_parameter("process_time_us").as_
int();
thread_stats_.resize(thread_count);
// 创建订阅线程
for (
int i = 0; i < thread_count; ++i) {
threads_.emplace_back(&MultiThreadSubscriber
::subscriber_loop, this, i, process_time);
}
// 创建低优先级监控线程
monitor_thread_ = std
::thread([this]() {
pthread_setname_np(pthread_self(), "monitor_thread");
realtime_utils
::RTThread
::set_current_thread_priority(SCHED_OTHER, 0);
monitor_loop();
});
}
// 析构函数
~MultiThreadSubscriber() {
runn
ing_ = false;
for (auto& thread
: threads_) {
if (thread.jo
inable()) thread.jo
in();
}
if (monitor_thread_.jo
inable()) monitor_thread_.jo
in();
}
private
:
// 订阅线程主循环
void subscriber_loop(
int thread_id,
int process_time) {
// 设置高实时优先级
std
::str
ing thread_name = "sub_thread_" + std
::to_str
ing(thread_id);
pthread_setname_np(pthread_self(), thread_name.c_str());
if (!realtime_utils
::RTThread
::set_current_thread_priority(
SCHED_FIFO, 90 - thread_id)) { // 提高优先级
RCLCPP_
ERROR(get_logger(), "Thread %d failed to set real-time priority", thread_id);
}
// 创建专属话题
auto topic_name = "control_topic_" + std
::to_str
ing(thread_id);
auto qos = rclcpp
::QoS(100).reliable().durability_volatile(); // 增加队列大小
// 创建订阅器
auto sub = create_subscription<std_msgs
::msg
::Float64>(
topic_name, qos,
[this, thread_id](
const std_msgs
::msg
::Float64
::SharedPtr msg) {
MessageData data;
data.value = msg->data;
data.receive_time = std
::chrono
::steady_clock
::now();
data.thread_id = thread_id;
if (!message_buffer_.push(data)) {
RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 1000,
"Thread %d buffer full, message dropped", thread_id);
}
});
// 主处理循环
while (rclcpp
::ok() && runn
ing_) {
MessageData data;
if (message_buffer_.pop(data)) {
// 模拟处理耗时
std
::this_thread
::sleep_for(std
::chrono
::microseconds(process_time));
// 计算端到端延迟
auto latency = std
::chrono
::duration_cast<std
::chrono
::microseconds>(
std
::chrono
::steady_clock
::now() - data.receive_time).count();
// 无锁更新统计
update_thread_stats(data.thread_id, latency);
} else {
std
::this_thread
::sleep_for(100us); // 更短的休眠
}
}
}
// 无锁统计更新
void update_thread_stats(size_t thread_id,
int64_t latency) {
if (thread_id >= thread_stats_.size()) return;
auto& stats = thread_stats_[thread_id];
stats.message_count++;
stats.total_latency += latency;
atomic_utils
::atomic_update_max(stats.max_latency, latency);
atomic_utils
::atomic_update_m
in(stats.m
in_latency, latency);
}
// 监控循环（无锁）
void monitor_loop() {
auto last_pr
int = std
::chrono
::steady_clock
::now();
while (rclcpp
::ok() && runn
ing_) {
std
::this_thread
::sleep_for(5s); // 降低输出频率
// 原子获取统计快照
std
::vector<ThreadStats> snapshot;
for (auto& stats
: thread_stats_) {
ThreadStats s;
s.message_count = stats.message_count.exchange(0);
s.total_latency = stats.total_latency.exchange(0);
s.max_latency = stats.max_latency.exchange(0);
s.m
in_latency = stats.m
in_latency.exchange(std
::numeric_limits<
int64_t>
::max());
snapshot.push_back(s);
}
// 输出统计（非实时上下文）
pr
int_stats(snapshot);
}
}
// 打印统计（无锁）
void pr
int_stats(
const std
::vector<ThreadStats>& snapshot) {
RCLCPP_
INFO(get_logger(), "\n=== Subscriber Threads Stats ===");
for (size_t i = 0; i < snapshot.size(); ++i) {
const auto& stats = snapshot[i];
if (stats.message_count == 0) cont
inue;
double avg_latency = static_cast<double>(stats.total_latency) / stats.message_count;
RCLCPP_
INFO(get_logger(),
"Thread %zu
: %lu msgs | Avg
: %.2f us | Max
: %ld us | M
in: %ld us",
i, stats.message_count.load(), avg_latency,
stats.max_latency.load(), stats.m
in_latency.load());
}
}
// 成员变量
std
::vector<std
::thread> threads_;
std
::thread monitor_thread_;
std
::atomic<bool> runn
ing_{true};
realtime_utils
::LockFreeR
ingBuffer<MessageData, 20000> message_buffer_; // 增大缓冲区
std
::vector<ThreadStats> thread_stats_; // 无锁统计
};
int ma
in(
int argc, char** argv) {
rclcpp
::init(argc, argv);
auto node = std
::make_shared<MultiThreadSubscriber>();
rclcpp
::sp
in(node);
rclcpp
::shutdown();
return 0;
}
#
include "../
include/
include/realtime_utils/realtime_utils.hpp"
#
include <rclcpp/rclcpp.hpp>
#
include <std_msgs/msg/float64.hpp>
#
include <chrono>
#
include <thread>
#
include <vector>
#
include <str
ing>
#
include <memory>
#
include <atomic>
#
include <limits>
us
ing namespace std
::chrono_literals;
// 原子操作辅助工具
namespace atomic_utils {
template<typename T>
void atomic_update_max(std
::atomic<T>& atomic_var, T value) {
T current = atomic_var.load();
while (value > current &&
!atomic_var.compare_exchange_weak(current, value)) {}
}
template<typename T>
void atomic_update_m
in(std
::atomic<T>& atomic_var, T value) {
T current = atomic_var.load();
while (value < current &&
!atomic_var.compare_exchange_weak(current, value)) {}
}
}
// 多线程发布者节点
class MultiThreadPublisher
: public rclcpp
::Node {
public
:
// 线程统计结构（全原子操作）
struct ThreadStats {
std
::atomic<u
int64_t> message_count{0};
std
::atomic<u
int64_t> total_latency{0}; // 改为u
int64避免溢出
std
::atomic<
int64_t> max_latency{0};
std
::atomic<
int64_t> m
in_latency{std
::numeric_limits<
int64_t>
::max()};
// 原子重置方法
void reset() {
message_count = 0;
total_latency = 0;
max_latency = 0;
m
in_latency = std
::numeric_limits<
int64_t>
::max();
}
};
// 构造函数
MultiThreadPublisher()
: Node("multithread_publisher") {
// 参数声明
declare_parameter("thread_count", 4);
declare_parameter("frequency", 500.0);
// 获取参数
int thread_count = get_parameter("thread_count").as_
int();
double frequency = get_parameter("frequency").as_double();
thread_stats_.resize(thread_count); // 初始化统计容器
// 创建发布线程
for (
int i = 0; i < thread_count; ++i) {
threads_.emplace_back(&MultiThreadPublisher
::publisher_loop, this,
i, frequency);
}
// 创建低优先级监控线程
monitor_thread_ = std
::thread([this]() {
pthread_setname_np(pthread_self(), "monitor_thread");
realtime_utils
::RTThread
::set_current_thread_priority(SCHED_OTHER, 0);
monitor_loop();
});
}
// 析构函数
~MultiThreadPublisher() {
runn
ing_ = false;
for (auto& thread
: threads_) {
if (thread.jo
inable()) thread.jo
in();
}
if (monitor_thread_.jo
inable()) monitor_thread_.jo
in();
}
private
:
// 发布线程主循环
void publisher_loop(
int thread_id, double frequency) {
// 设置线程名和实时优先级
std
::str
ing thread_name = "pub_thread_" + std
::to_str
ing(thread_id);
pthread_setname_np(pthread_self(), thread_name.c_str());
if (!realtime_utils
::RTThread
::set_current_thread_priority(
SCHED_FIFO, 90 - thread_id)) { // 提高优先级
RCLCPP_
ERROR(get_logger(), "Thread %d failed to set real-time priority", thread_id);
}
// 创建专属话题和发布器
auto topic_name = "control_topic_" + std
::to_str
ing(thread_id);
auto qos = rclcpp
::QoS(100).reliable().durability_volatile(); // 增加队列大小
auto pub = create_publisher<std_msgs
::msg
::Float64>(topic_name, qos);
// 计算发布周期
const auto period = std
::chrono
::nanoseconds(static_cast<
int64_t>(1e9 / frequency));
auto start_time = std
::chrono
::steady_clock
::now();
u
int64_t count = 0;
// 复用消息对象
auto msg = std
::make_shared<std_msgs
::msg
::Float64>();
msg->data = thread_id;
while (rclcpp
::ok() && runn
ing_) {
auto next_time = start_time + count * period;
std
::this_thread
::sleep_until(next_time);
msg->data = count;
pub->publish(*msg);
auto latency = std
::chrono
::duration_cast<std
::chrono
::microseconds>(
std
::chrono
::steady_clock
::now() - next_time).count();
// 无锁更新统计
update_thread_stats(thread_id, latency);
count++;
}
}
// 无锁统计更新
void update_thread_stats(size_t thread_id,
int64_t latency) {
if (thread_id >= thread_stats_.size()) return;
auto& stats = thread_stats_[thread_id];
stats.message_count++;
stats.total_latency += latency;
atomic_utils
::atomic_update_max(stats.max_latency, latency);
atomic_utils
::atomic_update_m
in(stats.m
in_latency, latency);
}
// 监控循环（无锁）
void monitor_loop() {
auto last_pr
int = std
::chrono
::steady_clock
::now();
while (rclcpp
::ok() && runn
ing_) {
std
::this_thread
::sleep_for(5s); // 降低输出频率
// 原子获取统计快照
std
::vector<ThreadStats> snapshot;
for (auto& stats
: thread_stats_) {
ThreadStats s;
s.message_count = stats.message_count.exchange(0);
s.total_latency = stats.total_latency.exchange(0);
s.max_latency = stats.max_latency.exchange(0);
s.m
in_latency = stats.m
in_latency.exchange(std
::numeric_limits<
int64_t>
::max());
snapshot.push_back(s);
}
// 输出统计（非实时上下文）
pr
int_stats(snapshot);
}
}
// 打印统计（无锁）
void pr
int_stats(
const std
::vector<ThreadStats>& snapshot) {
RCLCPP_
INFO(get_logger(), "\n=== Publisher Threads Stats ===");
for (size_t i = 0; i < snapshot.size(); ++i) {
const auto& stats = snapshot[i];
if (stats.message_count == 0) cont
inue;
double avg_latency = static_cast<double>(stats.total_latency) / stats.message_count;
RCLCPP_
INFO(get_logger(),
"Thread %zu
: %lu msgs | Avg
: %.2f us | Max
: %ld us | M
in: %ld us",
i, stats.message_count.load(), avg_latency,
stats.max_latency.load(), stats.m
in_latency.load());
}
}
// 成员变量
std
::vector<std
::thread> threads_;
std
::thread monitor_thread_;
std
::atomic<bool> runn
ing_{true};
std
::vector<ThreadStats> thread_stats_; // 无锁统计
};
int ma
in(
int argc, char** argv) {
rclcpp
::init(argc, argv);
if (getuid() != 0) {
RCLCPP_
ERROR(rclcpp
::get_logger("ma
in"),
"This program requires root privileges for real-time schedul
ing");
return 1;
}
auto node = std
::make_shared<MultiThreadPublisher>();
rclcpp
::sp
in(node);
rclcpp
::shutdown();
return 0;
}
报错：
--- stderr
: realtime_demo
/home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_subscriber.cpp
: In member function ‘void MultiThreadSubscriber
::monitor_loop()’
:
/home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_subscriber.cpp
:154
:14
: warn
ing
: variable ‘last_pr
int’ set but not used [-Wunused-but-set-variable]
154 | auto last_pr
int = std
::chrono
::steady_clock
::now();
| ^~~~~~~~~~
/home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_publisher.cpp
: In member function ‘void MultiThreadPublisher
::monitor_loop()’
:
/home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_publisher.cpp
:140
:14
: warn
ing
: variable ‘last_pr
int’ set but not used [-Wunused-but-set-variable]
140 | auto last_pr
int = std
::chrono
::steady_clock
::now();
| ^~~~~~~~~~
In file
included from /usr/
include/x86_64-l
inux-gnu/c++/11/bits/c++allocator.h
:33,
from /usr/
include/c++/11/bits/allocator.h
:46,
from /usr/
include/c++/11/memory
:64,
from /home/yidds/YiDDS/YiDDS_humble/
install/rclcpp/
include/rclcpp/rclcpp/rclcpp.hpp
:153,
from /home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/../
include/
include/realtime_utils/realtime_utils.hpp
:3,
from /home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_subscriber.cpp
:1
:
/usr/
include/c++/11/ext/new_allocator.h
: In instantiation of ‘void __gnu_cxx
::new_allocator<_Tp>
::construct(_Up*, _Args&& ...) [with _Up = MultiThreadSubscriber
::ThreadStats; _Args = {
const MultiThreadSubscriber
::ThreadStats&}; _Tp = MultiThreadSubscriber
::ThreadStats]’
:
/usr/
include/c++/11/bits/alloc_traits.h
:516
:17
: required from ‘static void std
::allocator_traits<std
::allocator<_Tp1> >
::construct(std
::allocator_traits<std
::allocator<_Tp1> >
::allocator_type&, _Up*, _Args&& ...) [with _Up = MultiThreadSubscriber
::ThreadStats; _Args = {
const MultiThreadSubscriber
::ThreadStats&}; _Tp = MultiThreadSubscriber
::ThreadStats; std
::allocator_traits<std
::allocator<_Tp1> >
::allocator_type = std
::allocator<MultiThreadSubscriber
::ThreadStats>]’
/usr/
include/c++/11/bits/stl_vector.h
:1192
:30
: required from ‘void std
::vector<_Tp, _Alloc>
::push_back(
const value_type&) [with _Tp = MultiThreadSubscriber
::ThreadStats; _Alloc = std
::allocator<MultiThreadSubscriber
::ThreadStats>; std
::vector<_Tp, _Alloc>
::value_type = MultiThreadSubscriber
::ThreadStats]’
/home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_subscriber.cpp
:167
:35
: required from here
/usr/
include/c++/11/ext/new_allocator.h
:162
:11
: error: use of deleted function ‘MultiThreadSubscriber
::ThreadStats
::ThreadStats(
const MultiThreadSubscriber
::ThreadStats&)’
162 | {
::new((void *)__p) _Up(std
::forward<_Args>(__args)...); }
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_subscriber.cpp
:35
:12
: note
: ‘MultiThreadSubscriber
::ThreadStats
::ThreadStats(
const MultiThreadSubscriber
::ThreadStats&)’ is implicitly deleted because the default def
inition would be ill-formed
:
35 |
struct ThreadStats {
| ^~~~~~~~~~~
/home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_subscriber.cpp
:35
:12
: error: use of deleted function ‘std
::atomic<long unsigned
int>
::atomic(
const std
::atomic<long unsigned
int>&)’
In file
included from /usr/
include/c++/11/future
:41,
from /home/yidds/YiDDS/YiDDS_humble/
install/rclcpp/
include/rclcpp/rclcpp/executors.hpp
:18,
from /home/yidds/YiDDS/YiDDS_humble/
install/rclcpp/
include/rclcpp/rclcpp/rclcpp.hpp
:155,
from /home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/../
include/
include/realtime_utils/realtime_utils.hpp
:3,
from /home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_subscriber.cpp
:1
:
/usr/
include/c++/11/atomic
:898
:7
: note
: declared here
898 | atomic(
const atomic&) = delete;
| ^~~~~~
/home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_subscriber.cpp
:35
:12
: error: use of deleted function ‘std
::atomic<long unsigned
int>
::atomic(
const std
::atomic<long unsigned
int>&)’
35 |
struct ThreadStats {
| ^~~~~~~~~~~
In file
included from /usr/
include/c++/11/future
:41,
from /home/yidds/YiDDS/YiDDS_humble/
install/rclcpp/
include/rclcpp/rclcpp/executors.hpp
:18,
from /home/yidds/YiDDS/YiDDS_humble/
install/rclcpp/
include/rclcpp/rclcpp/rclcpp.hpp
:155,
from /home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/../
include/
include/realtime_utils/realtime_utils.hpp
:3,
from /home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_subscriber.cpp
:1
:
/usr/
include/c++/11/atomic
:898
:7
: note
: declared here
898 | atomic(
const atomic&) = delete;
| ^~~~~~
/home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_subscriber.cpp
:35
:12
: error: use of deleted function ‘std
::atomic<long
int>
::atomic(
const std
::atomic<long
int>&)’
35 |
struct ThreadStats {
| ^~~~~~~~~~~
In file
included from /usr/
include/c++/11/future
:41,
from /home/yidds/YiDDS/YiDDS_humble/
install/rclcpp/
include/rclcpp/rclcpp/executors.hpp
:18,
from /home/yidds/YiDDS/YiDDS_humble/
install/rclcpp/
include/rclcpp/rclcpp/rclcpp.hpp
:155,
from /home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/../
include/
include/realtime_utils/realtime_utils.hpp
:3,
from /home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_subscriber.cpp
:1
:
/usr/
include/c++/11/atomic
:875
:7
: note
: declared here
875 | atomic(
const atomic&) = delete;
| ^~~~~~
/home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_subscriber.cpp
:35
:12
: error: use of deleted function ‘std
::atomic<long
int>
::atomic(
const std
::atomic<long
int>&)’
35 |
struct ThreadStats {
| ^~~~~~~~~~~
In file
included from /usr/
include/c++/11/future
:41,
from /home/yidds/YiDDS/YiDDS_humble/
install/rclcpp/
include/rclcpp/rclcpp/executors.hpp
:18,
from /home/yidds/YiDDS/YiDDS_humble/
install/rclcpp/
include/rclcpp/rclcpp/rclcpp.hpp
:155,
from /home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/../
include/
include/realtime_utils/realtime_utils.hpp
:3,
from /home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_subscriber.cpp
:1
:
/usr/
include/c++/11/atomic
:875
:7
: note
: declared here
875 | atomic(
const atomic&) = delete;
| ^~~~~~
In file
included from /usr/
include/x86_64-l
inux-gnu/c++/11/bits/c++allocator.h
:33,
from /usr/
include/c++/11/bits/allocator.h
:46,
from /usr/
include/c++/11/memory
:64,
from /home/yidds/YiDDS/YiDDS_humble/
install/rclcpp/
include/rclcpp/rclcpp/rclcpp.hpp
:153,
from /home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/../
include/
include/realtime_utils/realtime_utils.hpp
:3,
from /home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_publisher.cpp
:1
:
/usr/
include/c++/11/ext/new_allocator.h
: In instantiation of ‘void __gnu_cxx
::new_allocator<_Tp>
::construct(_Up*, _Args&& ...) [with _Up = MultiThreadPublisher
::ThreadStats; _Args = {
const MultiThreadPublisher
::ThreadStats&}; _Tp = MultiThreadPublisher
::ThreadStats]’
:
/usr/
include/c++/11/bits/alloc_traits.h
:516
:17
: required from ‘static void std
::allocator_traits<std
::allocator<_Tp1> >
::construct(std
::allocator_traits<std
::allocator<_Tp1> >
::allocator_type&, _Up*, _Args&& ...) [with _Up = MultiThreadPublisher
::ThreadStats; _Args = {
const MultiThreadPublisher
::ThreadStats&}; _Tp = MultiThreadPublisher
::ThreadStats; std
::allocator_traits<std
::allocator<_Tp1> >
::allocator_type = std
::allocator<MultiThreadPublisher
::ThreadStats>]’
/usr/
include/c++/11/bits/stl_vector.h
:1192
:30
: required from ‘void std
::vector<_Tp, _Alloc>
::push_back(
const value_type&) [with _Tp = MultiThreadPublisher
::ThreadStats; _Alloc = std
::allocator<MultiThreadPublisher
::ThreadStats>; std
::vector<_Tp, _Alloc>
::value_type = MultiThreadPublisher
::ThreadStats]’
/home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_publisher.cpp
:153
:35
: required from here
/usr/
include/c++/11/ext/new_allocator.h
:162
:11
: error: use of deleted function ‘MultiThreadPublisher
::ThreadStats
::ThreadStats(
const MultiThreadPublisher
::ThreadStats&)’
162 | {
::new((void *)__p) _Up(std
::forward<_Args>(__args)...); }
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_publisher.cpp
:35
:12
: note
: ‘MultiThreadPublisher
::ThreadStats
::ThreadStats(
const MultiThreadPublisher
::ThreadStats&)’ is implicitly deleted because the default def
inition would be ill-formed
:
35 |
struct ThreadStats {
| ^~~~~~~~~~~
/home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_publisher.cpp
:35
:12
: error: use of deleted function ‘std
::atomic<long unsigned
int>
::atomic(
const std
::atomic<long unsigned
int>&)’
In file
included from /usr/
include/c++/11/future
:41,
from /home/yidds/YiDDS/YiDDS_humble/
install/rclcpp/
include/rclcpp/rclcpp/executors.hpp
:18,
from /home/yidds/YiDDS/YiDDS_humble/
install/rclcpp/
include/rclcpp/rclcpp/rclcpp.hpp
:155,
from /home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/../
include/
include/realtime_utils/realtime_utils.hpp
:3,
from /home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_publisher.cpp
:1
:
/usr/
include/c++/11/atomic
:898
:7
: note
: declared here
898 | atomic(
const atomic&) = delete;
| ^~~~~~
/home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_publisher.cpp
:35
:12
: error: use of deleted function ‘std
::atomic<long unsigned
int>
::atomic(
const std
::atomic<long unsigned
int>&)’
35 |
struct ThreadStats {
| ^~~~~~~~~~~
In file
included from /usr/
include/c++/11/future
:41,
from /home/yidds/YiDDS/YiDDS_humble/
install/rclcpp/
include/rclcpp/rclcpp/executors.hpp
:18,
from /home/yidds/YiDDS/YiDDS_humble/
install/rclcpp/
include/rclcpp/rclcpp/rclcpp.hpp
:155,
from /home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/../
include/
include/realtime_utils/realtime_utils.hpp
:3,
from /home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_publisher.cpp
:1
:
/usr/
include/c++/11/atomic
:898
:7
: note
: declared here
898 | atomic(
const atomic&) = delete;
| ^~~~~~
/home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_publisher.cpp
:35
:12
: error: use of deleted function ‘std
::atomic<long
int>
::atomic(
const std
::atomic<long
int>&)’
35 |
struct ThreadStats {
| ^~~~~~~~~~~
In file
included from /usr/
include/c++/11/future
:41,
from /home/yidds/YiDDS/YiDDS_humble/
install/rclcpp/
include/rclcpp/rclcpp/executors.hpp
:18,
from /home/yidds/YiDDS/YiDDS_humble/
install/rclcpp/
include/rclcpp/rclcpp/rclcpp.hpp
:155,
from /home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/../
include/
include/realtime_utils/realtime_utils.hpp
:3,
from /home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_publisher.cpp
:1
:
/usr/
include/c++/11/atomic
:875
:7
: note
: declared here
875 | atomic(
const atomic&) = delete;
| ^~~~~~
/home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_publisher.cpp
:35
:12
: error: use of deleted function ‘std
::atomic<long
int>
::atomic(
const std
::atomic<long
int>&)’
35 |
struct ThreadStats {
| ^~~~~~~~~~~
In file
included from /usr/
include/c++/11/future
:41,
from /home/yidds/YiDDS/YiDDS_humble/
install/rclcpp/
include/rclcpp/rclcpp/executors.hpp
:18,
from /home/yidds/YiDDS/YiDDS_humble/
install/rclcpp/
include/rclcpp/rclcpp/rclcpp.hpp
:155,
from /home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/../
include/
include/realtime_utils/realtime_utils.hpp
:3,
from /home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_publisher.cpp
:1
:
/usr/
include/c++/11/atomic
:875
:7
: note
: declared here
875 | atomic(
const atomic&) = delete;
| ^~~~~~
In file
included from /usr/
include/c++/11/memory
:66,
from /home/yidds/YiDDS/YiDDS_humble/
install/rclcpp/
include/rclcpp/rclcpp/rclcpp.hpp
:153,
from /home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/../
include/
include/realtime_utils/realtime_utils.hpp
:3,
from /home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_publisher.cpp
:1
:
/usr/
include/c++/11/bits/stl_
uninitialized.h
: In instantiation of ‘_ForwardIterator std
::uninitialized_copy(_
InputIterator, _
InputIterator, _ForwardIterator) [with _
InputIterator = std
::move_iterator<MultiThreadPublisher
::ThreadStats*>; _ForwardIterator = MultiThreadPublisher
::ThreadStats*]’
:
/usr/
include/c++/11/bits/stl_
uninitialized.h
:333
:37
: required from ‘_ForwardIterator std
::__
uninitialized_copy_a(_
InputIterator, _
InputIterator, _ForwardIterator, std
::allocator<_Tp>&) [with _
InputIterator = std
::move_iterator<MultiThreadPublisher
::ThreadStats*>; _ForwardIterator = MultiThreadPublisher
::ThreadStats*; _Tp = MultiThreadPublisher
::ThreadStats]’
/usr/
include/c++/11/bits/stl_
uninitialized.h
:355
:2
: required from ‘_ForwardIterator std
::__
uninitialized_move_if_noexcept_a(_
InputIterator, _
InputIterator, _ForwardIterator, _Allocator&) [with _
InputIterator = MultiThreadPublisher
::ThreadStats*; _ForwardIterator = MultiThreadPublisher
::ThreadStats*; _Allocator = std
::allocator<MultiThreadPublisher
::ThreadStats>]’
/usr/
include/c++/11/bits/vector.tcc
:659
:48
: required from ‘void std
::vector<_Tp, _Alloc>
::_M_default_append(std
::vector<_Tp, _Alloc>
::size_type) [with _Tp = MultiThreadPublisher
::ThreadStats; _Alloc = std
::allocator<MultiThreadPublisher
::ThreadStats>; std
::vector<_Tp, _Alloc>
::size_type = long unsigned
int]’
/usr/
include/c++/11/bits/stl_vector.h
:940
:4
: required from ‘void std
::vector<_Tp, _Alloc>
::resize(std
::vector<_Tp, _Alloc>
::size_type) [with _Tp = MultiThreadPublisher
::ThreadStats; _Alloc = std
::allocator<MultiThreadPublisher
::ThreadStats>; std
::vector<_Tp, _Alloc>
::size_type = long unsigned
int]’
/home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_publisher.cpp
:60
:29
: required from here
/usr/
include/c++/11/bits/stl_
uninitialized.h
:138
:72
: error: static assertion failed
: result type must be
constructible from value type of
input range
138 | static_assert(is_
constructible<_ValueType2, decltype(*__first)>
::value,
| ^~~~~
/usr/
include/c++/11/bits/stl_
uninitialized.h
:138
:72
: note
: ‘std
::integral_
constant<bool, false>
::value’ evaluates to false
In file
included from /usr/
include/c++/11/memory
:66,
from /home/yidds/YiDDS/YiDDS_humble/
install/rclcpp/
include/rclcpp/rclcpp/rclcpp.hpp
:153,
from /home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/../
include/
include/realtime_utils/realtime_utils.hpp
:3,
from /home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_subscriber.cpp
:1
:
/usr/
include/c++/11/bits/stl_
uninitialized.h
: In instantiation of ‘_ForwardIterator std
::uninitialized_copy(_
InputIterator, _
InputIterator, _ForwardIterator) [with _
InputIterator = std
::move_iterator<MultiThreadSubscriber
::ThreadStats*>; _ForwardIterator = MultiThreadSubscriber
::ThreadStats*]’
:
/usr/
include/c++/11/bits/stl_
uninitialized.h
:333
:37
: required from ‘_ForwardIterator std
::__
uninitialized_copy_a(_
InputIterator, _
InputIterator, _ForwardIterator, std
::allocator<_Tp>&) [with _
InputIterator = std
::move_iterator<MultiThreadSubscriber
::ThreadStats*>; _ForwardIterator = MultiThreadSubscriber
::ThreadStats*; _Tp = MultiThreadSubscriber
::ThreadStats]’
/usr/
include/c++/11/bits/stl_
uninitialized.h
:355
:2
: required from ‘_ForwardIterator std
::__
uninitialized_move_if_noexcept_a(_
InputIterator, _
InputIterator, _ForwardIterator, _Allocator&) [with _
InputIterator = MultiThreadSubscriber
::ThreadStats*; _ForwardIterator = MultiThreadSubscriber
::ThreadStats*; _Allocator = std
::allocator<MultiThreadSubscriber
::ThreadStats>]’
/usr/
include/c++/11/bits/vector.tcc
:659
:48
: required from ‘void std
::vector<_Tp, _Alloc>
::_M_default_append(std
::vector<_Tp, _Alloc>
::size_type) [with _Tp = MultiThreadSubscriber
::ThreadStats; _Alloc = std
::allocator<MultiThreadSubscriber
::ThreadStats>; std
::vector<_Tp, _Alloc>
::size_type = long unsigned
int]’
/usr/
include/c++/11/bits/stl_vector.h
:940
:4
: required from ‘void std
::vector<_Tp, _Alloc>
::resize(std
::vector<_Tp, _Alloc>
::size_type) [with _Tp = MultiThreadSubscriber
::ThreadStats; _Alloc = std
::allocator<MultiThreadSubscriber
::ThreadStats>; std
::vector<_Tp, _Alloc>
::size_type = long unsigned
int]’
/home/yidds/YiDDS/multithread
ing_YIDDS/src/realtime_demo/src/multithread_subscriber.cpp
:67
:29
: required from here
/usr/
include/c++/11/bits/stl_
uninitialized.h
:138
:72
: error: static assertion failed
: result type must be
constructible from value type of
input range
138 | static_assert(is_
constructible<_ValueType2, decltype(*__first)>
::value,
| ^~~~~
/usr/
include/c++/11/bits/stl_
uninitialized.h
:138
:72
: note
: ‘std
::integral_
constant<bool, false>
::value’ evaluates to false
修改完给我完整的代码，要求功能基本不变，
博客指出结构体中存在未初始化const成员的错误，即 'error : uninitialized const member in struct ***'。解决办法一是去掉const限制，二是考虑初始化赋值，具体采用哪种方式需根据业务要求决定。
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