使用boost::sub_range进行迭代器范围的测试

于 2023-08-17 21:15:38 发布
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在C++中，boost::sub_range库提供了一种方便的方式来操作容器内的特定数据段，增强代码可读性和可维护性。通过实例展示了如何创建并使用boost::sub_range来选取和打印向量的部分元素，从而验证其功能。

使用boost::sub_range进行迭代器范围的测试

在C++中，我们经常需要对容器中的某一段数据进行操作，比如排序、查找等。然而，如果每次都手动指定迭代器范围，可能会显得很繁琐。这时候，就需要使用迭代器范围库来简化代码。

boost::sub_range是一个非常好用的迭代器范围库，它可以让我们非常方便地操作容器中的某一段数据，同时还保证了代码的可读性和可维护性。接下来，我会展示一个基于boost::sub_range的测试程序。

首先，我们需要安装boost库，然后我们可以使用下面的代码测试是否安装成功：

#include <boost/version.hpp>
#include <iostream>

int main
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请仔细阅读和分析下面函数，进行优化后,采用C/C++11标准，完整推导并重构可编译的全部代码 要求如下: 1.保持所有原始功能不变，不要遗漏逻辑细节 2.提高执行效率，降低计算复杂度 3.已经给定的结构体名字和元素不要更改，详细的中文注释 4.自动添加中文注释说明功能逻辑 5.不使用 auto，使用显式 for 循环 6.结构体采用32位定义 7.不要使用小函数，保持原始的函数定义 8.严格保持protobuf字段映射关系 特别注意： 1.函数中有关位操作不变，函数间的位操作一致 2.函数中的 HDDMXng::BelUsageAttrib::BelUsageAttrib 映射为 message BelUsageAttrib { optional uint32 flags = 1; optional uint32 type = 2; optional uint32 bitwidth = 3; optional string attribname = 4; optional sint32 defint = 5; optional double defdouble = 6; optional bool defbool = 7; optional string defstring = 8; repeated sint32 listofints = 9 [packed = true]; repeated double listofdoubles = 10 [packed = true]; repeated bool listofbools = 11 [packed = true]; repeated string listofstrings = 12; optional uint32 precision = 13; } 3.采用 google::protobuf::Descriptor 和 google::protobuf::Reflection 进行编程 将函数中的 _BYTE attrib_msg[24] 映射为 HDDMXng::BelUsageAttrib attrib_msg 仔细解析 _BYTE attrib_msg[24] 所有字段 void __fastcall HDDMBelUsageAttrib::readme_pb(HDDMBelUsageAttrib *this, std::istream *stream, HDDMDevice *hddmDevice) { google::protobuf::Message *v4; // rdx unsigned int v5; // ecx bool v6; // zf _QWORD *v7; // r12 _QWORD *qword30_1; // rbp unsigned __int64 v9; // r15 _QWORD *qword28_8; // r13 __int64 v11; // rbp __int64 v12; // rax __int64 v13; // rcx __int64 v14; // rdi unsigned __int64 v15; // rdx int v16; // esi __int64 v17; // rsi __int64 v18; // rcx int v19; // r8d int v20; // r9d void *n_23; // r14 char *s2_4; // rbp __int64 qword48_3; // r13 char *p_char40_6; // r15 int v25; // eax unsigned __int64 n_24; // r12 size_t n_9; // rdx __int64 n0x7FFFFFFF_3; // r12 unsigned __int64 n_25; // rcx size_t n_10; // rdx int v31; // eax __int64 p_char40_7; // rax int v33; // eax __int64 *qword28_9; // rax unsigned __int64 v35; // rdx unsigned __int64 v36; // rsi __int64 v37; // r12 __int64 qword28_10; // rax __int64 qword28_6; // r13 unsigned __int64 n_6; // r14 char *s_2; // rbp __int64 qword48_6; // r8 signed __int64 v43; // r9 __int64 v44; // rax char *v45; // r15 __int64 v46; // r12 int v47; // edi char v48; // si __int64 *v49; // rdi __int64 v50; // rax __int64 v51; // rax void *n_19; // r13 __int64 *s2_3; // rbp __int64 qword48_2; // r14 char *p_char40_4; // r15 int v56; // eax unsigned __int64 n_20; // r12 size_t n_7; // rdx __int64 n0x7FFFFFFF_2; // r12 unsigned __int64 n_21; // rcx size_t n_8; // rdx int v62; // eax __int64 p_char40_5; // rax int v64; // r13d char **qword28_7; // rax unsigned __int64 v66; // rdx unsigned __int64 v67; // rsi unsigned __int64 v68; // r13 _QWORD *qword28_5; // rax _QWORD *qword28_3; // r12 unsigned __int64 n_3; // r13 char *s_1; // rax char *v73; // r14 char *s_4; // rbp signed __int64 v75; // r9 __int64 qword48_5; // r8 void *n_15; // r14 __int64 *s2_2; // rbp __int64 qword48_1; // r13 char *p_char40_2; // r15 int v81; // eax unsigned __int64 n_16; // r12 size_t n_4; // rdx __int64 n0x7FFFFFFF_1; // r12 unsigned __int64 n_17; // rcx size_t n_5; // rdx int v87; // eax __int64 p_char40_3; // rax char **qword28_4; // rax unsigned __int64 v90; // rdx unsigned __int64 v91; // rsi unsigned __int64 v92; // r13 _QWORD *qword28_1; // rax _QWORD *qword28_2; // r12 unsigned __int64 n; // r13 char *s; // rax char *v97; // r14 char *s_3; // rbp __int64 qword48; // r8 signed __int64 v100; // r9 __int64 v101; // rcx void *n_11; // r14 __int64 *s2_1; // rbp __int64 qword48_4; // r13 char *p_char40; // r15 int v106; // eax unsigned __int64 n_12; // r12 size_t n_1; // rdx __int64 n0x7FFFFFFF; // r12 unsigned __int64 n_13; // rcx size_t n_2; // rdx int v112; // eax __int64 p_char40_1; // rax char **qword28; // rax unsigned __int64 v115; // rdx unsigned __int64 v116; // rsi signed __int64 v117; // r9 int v118; // eax int v119; // ecx int v120; // edx unsigned __int64 v121; // [rsp+0h] [rbp-1E8h] unsigned __int64 v122; // [rsp+0h] [rbp-1E8h] int v123; // [rsp+0h] [rbp-1E8h] int v124; // [rsp+0h] [rbp-1E8h] unsigned __int64 v125; // [rsp+8h] [rbp-1E0h] unsigned __int64 v126; // [rsp+8h] [rbp-1E0h] unsigned __int64 n_26; // [rsp+20h] [rbp-1C8h] unsigned __int64 n_22; // [rsp+20h] [rbp-1C8h] unsigned __int64 n_18; // [rsp+20h] [rbp-1C8h] unsigned __int64 n_14; // [rsp+20h] [rbp-1C8h] void **s1_1; // [rsp+40h] [rbp-1A8h] BYREF void **s1_2; // [rsp+50h] [rbp-198h] BYREF void **s1_3; // [rsp+60h] [rbp-188h] BYREF void **s2_5; // [rsp+70h] [rbp-178h] BYREF void *s1_4[2]; // [rsp+80h] [rbp-168h] BYREF __int64 v136; // [rsp+90h] [rbp-158h] BYREF void *s1_5[2]; // [rsp+A0h] [rbp-148h] BYREF __int64 v138; // [rsp+B0h] [rbp-138h] BYREF void *s1[2]; // [rsp+C0h] [rbp-128h] BYREF __int64 v140; // [rsp+D0h] [rbp-118h] BYREF void *s2[2]; // [rsp+E0h] [rbp-108h] BYREF char v142; // [rsp+F0h] [rbp-F8h] BYREF _BYTE attrib_msg[24]; // [rsp+100h] [rbp-E8h] BYREF int v144; // [rsp+118h] [rbp-D0h] __int64 v145; // [rsp+120h] [rbp-C8h] int v146; // [rsp+130h] [rbp-B8h] __int64 v147; // [rsp+138h] [rbp-B0h] int v148; // [rsp+148h] [rbp-A0h] __int64 v149; // [rsp+150h] [rbp-98h] int v150; // [rsp+168h] [rbp-80h] __int64 v151; // [rsp+170h] [rbp-78h] __int64 v152; // [rsp+178h] [rbp-70h] _QWORD *v153; // [rsp+180h] [rbp-68h] unsigned int v154; // [rsp+188h] [rbp-60h] char v155; // [rsp+18Ch] [rbp-5Ch] __int16 v156; // [rsp+190h] [rbp-58h] int v157; // [rsp+194h] [rbp-54h] __int64 qword30; // [rsp+198h] [rbp-50h] char v159; // [rsp+1A0h] [rbp-48h] char v160; // [rsp+1A4h] [rbp-44h] if ( HDDMDeviceDump::useXngMarks ) std::istream::read(stream, HDDMDeviceDump::markBuffer, 14); HDDMXng::BelUsageAttrib::BelUsageAttrib((HDDMXng::BelUsageAttrib *)attrib_msg); HDDMDevice::readMessage((HDDMDevice *)stream, (std::istream *)attrib_msg, v4); v5 = (4 * ((v154 >> 3) & 1)) | (2 * ((v154 >> 2) & 1)) & 0xFFFFFFBB | ((v154 & 2) != 0) | HIBYTE(this->attrib_flags) & 0xB8 | (((v154 >> 4) & 1) << 6); BYTE1(this->attrib_type) = ((unsigned __int8)(v154 >> 7) << 7) | (((v154 & 0x40) != 0) << 6) & 0x7F | (32 * ((v154 & 0x20) != 0)) & 0x7F | BYTE1(this->attrib_type) & 0x1F; v6 = (attrib_msg[16] & 0x10) == 0; HIBYTE(this->attrib_flags) = (8 * (v155 & 7)) | v5 & 0xC7; if ( !v6 ) LOWORD(this->attrib_flags) = v156 & 0xFFF | this->attrib_flags & 0xF000; std::string::_M_assign(&this->attrib_name, v152); switch ( (HIBYTE(this->attrib_flags) >> 3) & 7 ) { case 1: v92 = v144; qword28_1 = (_QWORD *)operator new(0x18u); qword28_2 = qword28_1; *qword28_1 = 0; qword28_1[1] = 0; qword28_1[2] = 0; if ( !v92 ) { v119 = v144; qword28_1[2] = 0; qword28_1[1] = 0; this->qword28 = qword28_1; if ( v119 <= 0 ) goto LABEL_158; goto LABEL_163; } if ( v92 > 0x3FFFFFFFFFFFFFFFLL ) std::__throw_bad_alloc(); n = 4 * v92; s = (char *)operator new(n); v97 = &s[n]; *qword28_2 = s; s_3 = s; qword28_2[2] = &s[n]; memset(s, 0, n); LODWORD(v100) = v144; qword28_2[1] = v97; this->qword28 = qword28_2; if ( (int)v100 <= 0 ) goto LABEL_158; if ( !n ) { LABEL_163: v116 = 0; v115 = 0; LABEL_164: std::__throw_out_of_range_fmt( "vector::_M_range_check: __n (which is %zu) >= this->size() (which is %zu)", v116, v115); } v126 = 0; v101 = 0; v124 = 0; while ( 2 ) { *(_DWORD *)&s_3[4 * v101] = *(_DWORD *)(v145 + 4LL * v124 + 8); HDDMBelUsageAttrib::getValueAsString[abi:cxx11]((__int64)s1_4, this, v124, v101, qword48, v100); qword48 = this->qword48; if ( !qword48 ) { p_char40 = (char *)&this->qword40; goto LABEL_149; } n_11 = s1_4[1]; s2_1 = (__int64 *)s1_4[0]; qword48_4 = this->qword48; p_char40 = (char *)&this->qword40; do { while ( 1 ) { n_12 = *(_QWORD *)(qword48_4 + 40); n_1 = (size_t)n_11; if ( n_12 <= (unsigned __int64)n_11 ) n_1 = *(_QWORD *)(qword48_4 + 40); if ( !n_1 ) break; v106 = memcmp(*(const void **)(qword48_4 + 32), s2_1, n_1); if ( !v106 ) break; if ( v106 < 0 ) goto LABEL_122; LABEL_115: p_char40 = (char *)qword48_4; qword48_4 = *(_QWORD *)(qword48_4 + 16); if ( !qword48_4 ) goto LABEL_123; } n0x7FFFFFFF = n_12 - (_QWORD)n_11; if ( n0x7FFFFFFF > 0x7FFFFFFF || n0x7FFFFFFF >= (__int64)0xFFFFFFFF80000000LL && (int)n0x7FFFFFFF >= 0 ) goto LABEL_115; LABEL_122: qword48_4 = *(_QWORD *)(qword48_4 + 24); } while ( qword48_4 ); LABEL_123: if ( p_char40 == (char *)&this->qword40 ) goto LABEL_149; n_13 = *((_QWORD *)p_char40 + 5); n_2 = (size_t)n_11; if ( n_13 <= (unsigned __int64)n_11 ) n_2 = *((_QWORD *)p_char40 + 5); if ( n_2 && (n_14 = *((_QWORD *)p_char40 + 5), v112 = memcmp(s2_1, *((const void **)p_char40 + 4), n_2), n_13 = n_14, v112) ) { if ( v112 >= 0 ) goto LABEL_129; LABEL_149: s1_1 = s1_4; p_char40_1 = sub_F187E0(&this->qword38, p_char40, &s1_1); s2_1 = (__int64 *)s1_4[0]; } else { p_char40_1 = (__int64)p_char40; v100 = (signed __int64)n_11 - n_13; if ( (__int64)((__int64)n_11 - n_13) <= 0x7FFFFFFF ) { if ( v100 < (__int64)0xFFFFFFFF80000000LL || (int)v100 < 0 ) goto LABEL_149; LABEL_129: p_char40_1 = (__int64)p_char40; } } *(_WORD *)(p_char40_1 + 64) = v124; if ( s2_1 != &v136 ) operator delete(s2_1); if ( ++v124 < v144 ) { qword28 = (char **)this->qword28; v101 = ++v126; s_3 = *qword28; v115 = (qword28[1] - *qword28) >> 2; if ( v115 <= v126 ) { v116 = v126; goto LABEL_164; } continue; } break; } LABEL_158: LODWORD(this->qword30) = v157; LABEL_7: if ( (attrib_msg[17] & 1) != 0 ) BYTE1(this->attrib_type) = (4 * (v160 & 7)) | BYTE1(this->attrib_type) & 0xE3 | 2; HDDMXng::BelUsageAttrib::~BelUsageAttrib((HDDMXng::BelUsageAttrib *)attrib_msg); return; case 2: v68 = v146; qword28_5 = (_QWORD *)operator new(0x18u); qword28_3 = qword28_5; *qword28_5 = 0; qword28_5[1] = 0; qword28_5[2] = 0; if ( v68 ) { if ( v68 > 0x1FFFFFFFFFFFFFFFLL ) std::__throw_bad_alloc(); n_3 = 8 * v68; s_1 = (char *)operator new(n_3); v73 = &s_1[n_3]; *qword28_3 = s_1; s_4 = s_1; qword28_3[2] = &s_1[n_3]; memset(s_1, 0, n_3); LODWORD(qword48_5) = v146; qword28_3[1] = v73; this->qword28 = qword28_3; if ( (int)qword48_5 > 0 ) { v125 = 0; if ( n_3 ) { v123 = 0; while ( 1 ) { *(_QWORD *)&s_4[8 * v125] = *(_QWORD *)(v147 + 8LL * v123 + 8); HDDMBelUsageAttrib::getValueAsString[abi:cxx11]( (__int64)s1_5, this, v123, (unsigned int)v123, qword48_5, v75); qword48_5 = this->qword48; if ( !qword48_5 ) { p_char40_2 = (char *)&this->qword40; goto LABEL_153; } n_15 = s1_5[1]; s2_2 = (__int64 *)s1_5[0]; qword48_1 = this->qword48; p_char40_2 = (char *)&this->qword40; do { while ( 1 ) { n_16 = *(_QWORD *)(qword48_1 + 40); n_4 = (size_t)n_15; if ( n_16 <= (unsigned __int64)n_15 ) n_4 = *(_QWORD *)(qword48_1 + 40); if ( !n_4 ) break; v81 = memcmp(*(const void **)(qword48_1 + 32), s2_2, n_4); if ( !v81 ) break; if ( v81 < 0 ) goto LABEL_93; LABEL_86: p_char40_2 = (char *)qword48_1; qword48_1 = *(_QWORD *)(qword48_1 + 16); if ( !qword48_1 ) goto LABEL_94; } n0x7FFFFFFF_1 = n_16 - (_QWORD)n_15; if ( n0x7FFFFFFF_1 > 0x7FFFFFFF || n0x7FFFFFFF_1 >= (__int64)0xFFFFFFFF80000000LL && (int)n0x7FFFFFFF_1 >= 0 ) { goto LABEL_86; } LABEL_93: qword48_1 = *(_QWORD *)(qword48_1 + 24); } while ( qword48_1 ); LABEL_94: if ( p_char40_2 == (char *)&this->qword40 ) goto LABEL_153; n_17 = *((_QWORD *)p_char40_2 + 5); n_5 = (size_t)n_15; if ( n_17 <= (unsigned __int64)n_15 ) n_5 = *((_QWORD *)p_char40_2 + 5); if ( n_5 && (n_18 = *((_QWORD *)p_char40_2 + 5), v87 = memcmp(s2_2, *((const void **)p_char40_2 + 4), n_5), n_17 = n_18, v87) ) { if ( v87 >= 0 ) goto LABEL_100; LABEL_153: s1_2 = s1_5; p_char40_3 = sub_F187E0(&this->qword38, p_char40_2, &s1_2); s2_2 = (__int64 *)s1_5[0]; } else { p_char40_3 = (__int64)p_char40_2; v75 = (signed __int64)n_15 - n_17; if ( (__int64)((__int64)n_15 - n_17) <= 0x7FFFFFFF ) { if ( v75 < (__int64)0xFFFFFFFF80000000LL || (int)v75 < 0 ) goto LABEL_153; LABEL_100: p_char40_3 = (__int64)p_char40_2; } } *(_WORD *)(p_char40_3 + 64) = v123; if ( s2_2 != &v138 ) operator delete(s2_2); if ( v146 <= ++v123 ) goto LABEL_157; qword28_4 = (char **)this->qword28; ++v125; s_4 = *qword28_4; v90 = (qword28_4[1] - *qword28_4) >> 3; if ( v90 <= v125 ) { v91 = v125; goto LABEL_167; } } } LABEL_166: v91 = 0; v90 = 0; LABEL_167: std::__throw_out_of_range_fmt( "vector::_M_range_check: __n (which is %zu) >= this->size() (which is %zu)", v91, v90); } } else { v120 = v146; qword28_5[2] = 0; qword28_5[1] = 0; this->qword28 = qword28_5; if ( v120 > 0 ) goto LABEL_166; } LABEL_157: this->qword30 = qword30; goto LABEL_7; case 3: v37 = v148; qword28_10 = operator new(0x28u); *(_QWORD *)qword28_10 = 0; *(_DWORD *)(qword28_10 + 8) = 0; *(_QWORD *)(qword28_10 + 16) = 0; *(_DWORD *)(qword28_10 + 24) = 0; qword28_6 = qword28_10; *(_QWORD *)(qword28_10 + 32) = 0; n_6 = 8 * ((unsigned __int64)(v37 + 63) >> 6); s_2 = (char *)operator new(n_6); *(_QWORD *)qword28_6 = s_2; v44 = v37 + 63; *(_DWORD *)(qword28_6 + 8) = 0; *(_QWORD *)(qword28_6 + 32) = &s_2[n_6]; if ( v37 >= 0 ) v44 = v37; v45 = &s_2[8 * (v44 >> 6)]; v46 = v37 % 64; if ( v46 < 0 ) { v46 += 64; v45 -= 8; } *(_QWORD *)(qword28_6 + 16) = v45; *(_DWORD *)(qword28_6 + 24) = v46; if ( s_2 != &s_2[n_6] ) memset(s_2, 0, n_6); v47 = v148; this->qword28 = qword28_6; if ( v47 <= 0 ) goto LABEL_141; v48 = *(_BYTE *)(v149 + 8); if ( !(v46 + 8 * (v45 - s_2)) ) { v67 = 0; v66 = 0; LABEL_172: std::__throw_out_of_range_fmt( "vector<bool>::_M_range_check: __n (which is %zu) >= this->size() (which is %zu)", v67, v66); } v122 = 0; LABEL_51: v49 = (__int64 *)&s_2[8 * (v122 >> 6)]; v50 = 1LL << v122; if ( v48 ) v51 = *v49 | v50; else v51 = *v49 & ~v50; *v49 = v51; HDDMBelUsageAttrib::getValueAsString[abi:cxx11]((__int64)s1, this, v122, v122, qword48_6, v43); qword48_6 = this->qword48; if ( !qword48_6 ) { p_char40_4 = (char *)&this->qword40; goto LABEL_138; } n_19 = s1[1]; s2_3 = (__int64 *)s1[0]; qword48_2 = this->qword48; p_char40_4 = (char *)&this->qword40; while ( 1 ) { while ( 1 ) { n_20 = *(_QWORD *)(qword48_2 + 40); n_7 = (size_t)n_19; if ( n_20 <= (unsigned __int64)n_19 ) n_7 = *(_QWORD *)(qword48_2 + 40); if ( n_7 ) { v56 = memcmp(*(const void **)(qword48_2 + 32), s2_3, n_7); if ( v56 ) break; } n0x7FFFFFFF_2 = n_20 - (_QWORD)n_19; if ( n0x7FFFFFFF_2 > 0x7FFFFFFF || n0x7FFFFFFF_2 >= (__int64)0xFFFFFFFF80000000LL && (int)n0x7FFFFFFF_2 >= 0 ) goto LABEL_57; LABEL_64: qword48_2 = *(_QWORD *)(qword48_2 + 24); if ( !qword48_2 ) { LABEL_65: if ( &this->qword40 == (_QWORD *)p_char40_4 ) goto LABEL_138; n_21 = *((_QWORD *)p_char40_4 + 5); n_8 = (size_t)n_19; if ( n_21 <= (unsigned __int64)n_19 ) n_8 = *((_QWORD *)p_char40_4 + 5); if ( n_8 && (n_22 = *((_QWORD *)p_char40_4 + 5), v62 = memcmp(s2_3, *((const void **)p_char40_4 + 4), n_8), n_21 = n_22, v62) ) { if ( v62 >= 0 ) goto LABEL_71; LABEL_138: s1_3 = s1; p_char40_5 = sub_F187E0(&this->qword38, p_char40_4, &s1_3); s2_3 = (__int64 *)s1[0]; } else { p_char40_5 = (__int64)p_char40_4; v43 = (signed __int64)n_19 - n_21; if ( (__int64)((__int64)n_19 - n_21) <= 0x7FFFFFFF ) { if ( v43 < (__int64)0xFFFFFFFF80000000LL || (int)v43 < 0 ) goto LABEL_138; LABEL_71: p_char40_5 = (__int64)p_char40_4; } } *(_WORD *)(p_char40_5 + 64) = v122; if ( s2_3 != &v140 ) operator delete(s2_3); v64 = v122 + 1; if ( v148 <= (int)v122 + 1 ) { LABEL_141: LOBYTE(this->qword30) = v159; goto LABEL_7; } ++v122; v48 = *(_BYTE *)(v149 + v64 + 8); qword28_7 = (char **)this->qword28; s_2 = *qword28_7; v66 = *((unsigned int *)qword28_7 + 6) + 8 * (qword28_7[2] - *qword28_7) - *((unsigned int *)qword28_7 + 2); if ( v122 >= v66 ) { v67 = v122; goto LABEL_172; } goto LABEL_51; } } if ( v56 < 0 ) goto LABEL_64; LABEL_57: p_char40_4 = (char *)qword48_2; qword48_2 = *(_QWORD *)(qword48_2 + 16); if ( !qword48_2 ) goto LABEL_65; } case 4: case 5: case 6: v9 = v150; v121 = v150; qword28_8 = (_QWORD *)operator new(0x18u); *qword28_8 = 0; qword28_8[1] = 0; qword28_8[2] = 0; if ( v9 ) { if ( v9 > 0x7FFFFFFFFFFFFFFLL ) std::__throw_bad_alloc(); v11 = 32 * v121; v12 = operator new(32 * v121); v13 = v12 + 32 * v121; v14 = v12; *qword28_8 = v12; qword28_8[1] = v12; v15 = v121; qword28_8[2] = v13; do { if ( v12 ) { *(_QWORD *)(v12 + 8) = 0; *(_BYTE *)(v12 + 16) = 0; *(_QWORD *)v12 = v12 + 16; } v12 += 32; --v15; } while ( v15 ); v16 = v150; v121 = 0; qword28_8[1] = v13; this->qword28 = qword28_8; if ( v16 > 0 ) { v17 = *(_QWORD *)(v151 + 8); if ( v11 ) { while ( 1 ) { std::string::_M_assign(32 * v121 + v14, v17); HDDMBelUsageAttrib::getValueAsString[abi:cxx11]((__int64)s2, this, v121, v18, v19, v20); if ( !this->qword48 ) { p_char40_6 = (char *)&this->qword40; goto LABEL_145; } n_23 = s2[1]; s2_4 = (char *)s2[0]; qword48_3 = this->qword48; p_char40_6 = (char *)&this->qword40; do { while ( 1 ) { n_24 = *(_QWORD *)(qword48_3 + 40); n_9 = (size_t)n_23; if ( n_24 <= (unsigned __int64)n_23 ) n_9 = *(_QWORD *)(qword48_3 + 40); if ( !n_9 ) break; v25 = memcmp(*(const void **)(qword48_3 + 32), s2_4, n_9); if ( !v25 ) break; if ( v25 < 0 ) goto LABEL_29; LABEL_22: p_char40_6 = (char *)qword48_3; qword48_3 = *(_QWORD *)(qword48_3 + 16); if ( !qword48_3 ) goto LABEL_30; } n0x7FFFFFFF_3 = n_24 - (_QWORD)n_23; if ( n0x7FFFFFFF_3 > 0x7FFFFFFF || n0x7FFFFFFF_3 >= (__int64)0xFFFFFFFF80000000LL && (int)n0x7FFFFFFF_3 >= 0 ) { goto LABEL_22; } LABEL_29: qword48_3 = *(_QWORD *)(qword48_3 + 24); } while ( qword48_3 ); LABEL_30: if ( p_char40_6 == (char *)&this->qword40 ) goto LABEL_145; n_25 = *((_QWORD *)p_char40_6 + 5); n_10 = (size_t)n_23; if ( n_25 <= (unsigned __int64)n_23 ) n_10 = *((_QWORD *)p_char40_6 + 5); if ( n_10 && (n_26 = *((_QWORD *)p_char40_6 + 5), v31 = memcmp(s2_4, *((const void **)p_char40_6 + 4), n_10), n_25 = n_26, v31) ) { if ( v31 >= 0 ) goto LABEL_36; LABEL_145: s2_5 = s2; p_char40_7 = sub_F187E0(&this->qword38, p_char40_6, &s2_5); s2_4 = (char *)s2[0]; } else { p_char40_7 = (__int64)p_char40_6; v117 = (signed __int64)n_23 - n_25; if ( (__int64)((__int64)n_23 - n_25) <= 0x7FFFFFFF ) { if ( v117 < (__int64)0xFFFFFFFF80000000LL || (int)v117 < 0 ) goto LABEL_145; LABEL_36: p_char40_7 = (__int64)p_char40_6; } } *(_WORD *)(p_char40_7 + 64) = v121; if ( s2_4 != &v142 ) operator delete(s2_4); v33 = v121 + 1; if ( v150 <= (int)v121 + 1 ) goto LABEL_6; ++v121; v17 = *(_QWORD *)(v151 + 8LL * v33 + 8); qword28_9 = (__int64 *)this->qword28; v14 = *qword28_9; v35 = (qword28_9[1] - *qword28_9) >> 5; if ( v35 <= v121 ) { v36 = v121; goto LABEL_161; } } } LABEL_160: v36 = v121; v35 = 0; LABEL_161: std::__throw_out_of_range_fmt( "vector::_M_range_check: __n (which is %zu) >= this->size() (which is %zu)", v36, v35); } } else { v118 = v150; qword28_8[2] = 0; qword28_8[1] = 0; this->qword28 = qword28_8; if ( v118 > 0 ) goto LABEL_160; } LABEL_6: v7 = v153; qword30_1 = (_QWORD *)operator new(0x20u); *qword30_1 = qword30_1 + 2; sub_F12340(qword30_1, *v7, v7[1] + *v7); this->qword30 = qword30_1; goto LABEL_7; default: goto LABEL_7; } } 将函数中的 _BYTE attrib_msg[16] 映射为 HDDMXng::BelUsageAttrib attrib_msg void __fastcall HDDMBelUsageAttrib::writeme_pb(HDDMBelUsageAttrib *this, std::ostream *fileName) { unsigned __int8 attrib_code_high; // dl int v4; // eax int v5; // ecx int v6; // eax char v7; // cl int v8; // esi __int16 attrib_code; // ax int v10; // ecx unsigned __int16 v11; // ax _QWORD *p_attrib_name; // rsi const google::protobuf::Message *v13; // rdx __int64 qword30_2; // xmm0_8 unsigned __int8 v15; // al __int64 *qword28_6; // rax __int64 v17; // r12 __int64 v18; // rax __int64 v19; // r15 unsigned __int64 v20; // r13 int v21; // esi google::protobuf::Arena *v22; // r14 _QWORD *v23; // rax _QWORD *v24; // rbx _QWORD *v25; // rdi __int64 v26; // rax __int64 *qword28_7; // rax unsigned __int64 v28; // rdx _DWORD *v29; // rdx __int64 v30; // r12 __int64 v31; // rcx int v32; // eax __int64 *qword28_4; // rax __int64 v34; // rsi __int64 v35; // rcx __int64 v36; // r13 unsigned __int64 v37; // rbx __int64 *qword28_5; // rax unsigned __int64 v39; // rdx __int64 n4_21; // rax bool v41; // r12 _QWORD *v42; // r15 int n4_8; // edx google::protobuf::Arena *v44; // rdi int n4_7; // eax unsigned __int64 v46; // rdx size_t n; // rdx __int64 n4_12; // rcx __int64 *qword28_2; // rcx __int64 v50; // rax __int64 v51; // rcx __int64 v52; // r13 unsigned __int64 v53; // rbx __int64 *qword28_3; // rdx unsigned __int64 v55; // rdx __int64 v56; // xmm1_8 __int64 n4_19; // rax _QWORD *v58; // r14 int n4_4; // r12d google::protobuf::Arena *v60; // r15 unsigned __int64 v61; // rdx __int64 n4_18; // rax __int64 n4_6; // r15 __int64 *voidVec; // rcx __int64 v65; // rax __int64 v66; // rcx __int64 v67; // r14 unsigned __int64 v68; // rbx __int64 *qword28_1; // rdx unsigned __int64 v70; // rdx int v71; // r12d __int64 n4_16; // rax _QWORD *Aligned_1; // r15 int n4; // r13d google::protobuf::Arena *v75; // rdi unsigned __int64 v76; // rdx __int64 n4_15; // rax __int64 n4_2; // rcx char qword30_4; // al int voidVec1; // eax __int64 qword30_6; // rsi __int64 v82; // rax int n4_11; // eax _QWORD *v84; // rax google::protobuf::internal::RepeatedPtrFieldBase *v85; // [rsp+0h] [rbp-108h] int n4_13; // [rsp+0h] [rbp-108h] google::protobuf::internal::RepeatedPtrFieldBase *v87; // [rsp+0h] [rbp-108h] int n4_3; // [rsp+0h] [rbp-108h] int n4_9; // [rsp+1Ch] [rbp-ECh] _BYTE attrib_msg[16]; // [rsp+20h] [rbp-E8h] BYREF int v92; // [rsp+30h] [rbp-D8h] int n4_14; // [rsp+38h] [rbp-D0h] int n4_1; // [rsp+3Ch] [rbp-CCh] void *Aligned; // [rsp+40h] [rbp-C8h] int n4_17; // [rsp+50h] [rbp-B8h] int n4_5; // [rsp+54h] [rbp-B4h] void *v98; // [rsp+58h] [rbp-B0h] int n4_20; // [rsp+68h] [rbp-A0h] int n4_10; // [rsp+6Ch] [rbp-9Ch] void *v101; // [rsp+70h] [rbp-98h] google::protobuf::Arena *v102; // [rsp+80h] [rbp-88h] BYREF int v103; // [rsp+88h] [rbp-80h] int v104; // [rsp+8Ch] [rbp-7Ch] _DWORD *v105; // [rsp+90h] [rbp-78h] void *p__ZN6google8protobuf8internal26fixed_address_empty_stringB5cxx; // [rsp+98h] [rbp-70h] BYREF void *p__ZN6google8protobuf8internal26fixed_address_empty_stringB5cxx_1; // [rsp+A0h] [rbp-68h] BYREF int v108; // [rsp+A8h] [rbp-60h] int v109; // [rsp+ACh] [rbp-5Ch] int v110; // [rsp+B0h] [rbp-58h] int qword30_1; // [rsp+B4h] [rbp-54h] __int64 qword30_3; // [rsp+B8h] [rbp-50h] char qword30_5; // [rsp+C0h] [rbp-48h] int v114; // [rsp+C4h] [rbp-44h] if ( HDDMDeviceDump::useXngMarks ) std::ostream::write(fileName, "BELUSAGEATTRIB", 14); HDDMXng::BelUsageAttrib::BelUsageAttrib((HDDMXng::BelUsageAttrib *)attrib_msg); attrib_code_high = HIBYTE(this->attrib_flags); v4 = attrib_code_high & 1; v5 = (_BYTE)v4 == 0 ? 4 : 6; v6 = (v4 << 31 >> 31) & 2; if ( (attrib_code_high & 2) != 0 ) v6 = v5; if ( (attrib_code_high & 4) != 0 ) v6 |= 8u; if ( (attrib_code_high & 0x40) != 0 ) v6 |= 0x10u; v7 = BYTE1(this->attrib_type); if ( (v7 & 0x20) != 0 ) v6 |= 0x20u; if ( (v7 & 0x40) != 0 ) v6 |= 0x40u; v8 = v6; if ( v7 < 0 ) { LOBYTE(v8) = v6 | 0x80; v6 = v8; } v108 = v6; attrib_code = this->attrib_flags; v109 = (attrib_code_high >> 3) & 7; v10 = v92 | 0xC; v11 = attrib_code & 0xFFF; if ( v11 ) { v10 = v92 | 0x1C; v110 = v11; } p_attrib_name = &this->attrib_name; v92 = v10 | 1; if ( p__ZN6google8protobuf8internal26fixed_address_empty_stringB5cxx == &google::protobuf::internal::fixed_address_empty_string[abi:cxx11] ) sub_E76770(&p__ZN6google8protobuf8internal26fixed_address_empty_stringB5cxx, p_attrib_name); else std::string::_M_assign(p__ZN6google8protobuf8internal26fixed_address_empty_stringB5cxx, p_attrib_name); v13 = (const google::protobuf::Message *)HIBYTE(this->attrib_flags); switch ( (HIBYTE(this->attrib_flags) >> 3) & 7 ) { case 1: voidVec = (__int64 *)this->qword28; if ( !voidVec ) goto LABEL_102; v65 = *voidVec; v66 = (voidVec[1] - *voidVec) >> 2; if ( (int)v66 <= 0 ) goto LABEL_102; if ( !v66 ) { v70 = 0; v68 = 0; LABEL_140: std::__throw_out_of_range_fmt( "vector::_M_range_check: __n (which is %zu) >= this->size() (which is %zu)", v68, v70); } v67 = (unsigned int)(v66 - 1); v68 = 0; while ( 2 ) { v71 = *(_DWORD *)(v65 + 4 * v68); n4_16 = n4_14; if ( n4_14 != n4_1 ) goto LABEL_83; Aligned_1 = Aligned; n4 = n4_14 + 1; if ( Aligned ) { v75 = *(google::protobuf::Arena **)Aligned; if ( 2 * n4_14 >= n4 ) n4 = 2 * n4_14; v87 = *(google::protobuf::internal::RepeatedPtrFieldBase **)Aligned; if ( n4 < 4 ) n4 = 4; v76 = 4LL * n4 + 8; if ( v75 ) { Aligned = (void *)google::protobuf::Arena::AllocateAligned(v75, (const type_info *)&`typeinfo for'char, v76); *(_QWORD *)Aligned = v87; n4_15 = n4_14; n4_2 = n4_1; n4_1 = n4; if ( n4_14 <= 0 ) goto LABEL_95; goto LABEL_93; } } else { if ( 2 * n4_14 >= n4 ) n4 = 2 * n4_14; if ( n4 < 4 ) n4 = 4; v76 = 4LL * n4 + 8; } Aligned = (void *)operator new(v76); *(_QWORD *)Aligned = 0; n4_15 = n4_14; n4_2 = n4_1; n4_1 = n4; if ( n4_14 > 0 ) { LABEL_93: n4_3 = n4_2; memcpy((char *)Aligned + 8, Aligned_1 + 1, 4 * n4_15); n4_2 = n4_3; } if ( !Aligned_1 ) goto LABEL_97; LABEL_95: if ( !*Aligned_1 ) operator delete(Aligned_1, 4 * n4_2 + 8); LABEL_97: n4_16 = n4_14; LABEL_83: n4_14 = n4_16 + 1; *((_DWORD *)Aligned + n4_16 + 2) = v71; if ( v68 != v67 ) { qword28_1 = (__int64 *)this->qword28; ++v68; v65 = *qword28_1; v70 = (qword28_1[1] - *qword28_1) >> 2; if ( v70 <= v68 ) goto LABEL_140; continue; } break; } LOBYTE(v13) = HIBYTE(this->attrib_flags); LABEL_102: v13 = (const google::protobuf::Message *)((unsigned __int8)v13 & 1); if ( (_DWORD)v13 ) { voidVec1 = this->qword30; v92 |= 0x20u; qword30_1 = voidVec1; } goto LABEL_25; case 2: qword28_2 = (__int64 *)this->qword28; if ( !qword28_2 ) goto LABEL_21; v50 = *qword28_2; v51 = (qword28_2[1] - *qword28_2) >> 3; if ( (int)v51 <= 0 ) goto LABEL_21; if ( !v51 ) { v55 = 0; v53 = 0; LABEL_138: std::__throw_out_of_range_fmt( "vector::_M_range_check: __n (which is %zu) >= this->size() (which is %zu)", v53, v55); } v52 = (unsigned int)(v51 - 1); v53 = 0; while ( 2 ) { v56 = *(_QWORD *)(v50 + 8 * v53); n4_19 = n4_17; if ( n4_17 != n4_5 ) goto LABEL_64; v58 = v98; n4_4 = n4_17 + 1; if ( v98 ) { v60 = *(google::protobuf::Arena **)v98; if ( 2 * n4_17 >= n4_4 ) n4_4 = 2 * n4_17; if ( n4_4 < 4 ) n4_4 = 4; v61 = 8LL * n4_4 + 8; if ( v60 ) { v98 = (void *)google::protobuf::Arena::AllocateAligned( *(google::protobuf::Arena **)v98, (const type_info *)&`typeinfo for'char, v61); *(_QWORD *)v98 = v60; n4_18 = n4_17; n4_6 = n4_5; n4_5 = n4_4; if ( n4_17 <= 0 ) goto LABEL_76; goto LABEL_74; } } else { if ( 2 * n4_17 >= n4_4 ) n4_4 = 2 * n4_17; if ( n4_4 < 4 ) n4_4 = 4; v61 = 8LL * n4_4 + 8; } v98 = (void *)operator new(v61); *(_QWORD *)v98 = 0; n4_18 = n4_17; n4_6 = n4_5; n4_5 = n4_4; if ( n4_17 > 0 ) LABEL_74: memcpy((char *)v98 + 8, v58 + 1, 8 * n4_18); if ( !v58 ) goto LABEL_78; LABEL_76: if ( !*v58 ) operator delete(v58, 8 * n4_6 + 8); LABEL_78: n4_19 = n4_17; LABEL_64: n4_17 = n4_19 + 1; *((_QWORD *)v98 + n4_19 + 1) = v56; if ( v53 != v52 ) { qword28_3 = (__int64 *)this->qword28; ++v53; v50 = *qword28_3; v55 = (qword28_3[1] - *qword28_3) >> 3; if ( v53 >= v55 ) goto LABEL_138; continue; } break; } LOBYTE(v13) = HIBYTE(this->attrib_flags); LABEL_21: v13 = (const google::protobuf::Message *)((unsigned __int8)v13 & 1); if ( (_DWORD)v13 ) { qword30_2 = this->qword30; v92 |= 0x40u; qword30_3 = qword30_2; } v15 = BYTE1(this->attrib_type); if ( (v15 & 2) != 0 ) { v92 |= 0x100u; v114 = (v15 >> 2) & 7; } goto LABEL_25; case 3: qword28_4 = (__int64 *)this->qword28; if ( !qword28_4 ) goto LABEL_99; v34 = *qword28_4; v35 = *((unsigned int *)qword28_4 + 6) + 8 * (qword28_4[2] - *qword28_4) - *((unsigned int *)qword28_4 + 2); if ( (int)v35 <= 0 ) goto LABEL_99; if ( !v35 ) { v39 = 0; v37 = 0; LABEL_136: std::__throw_out_of_range_fmt( "vector<bool>::_M_range_check: __n (which is %zu) >= this->size() (which is %zu)", v37, v39); } v36 = (unsigned int)(v35 - 1); v37 = 0; while ( 2 ) { n4_21 = n4_20; v41 = ((1LL << v37) & *(_QWORD *)(v34 + 8 * (v37 >> 6))) != 0; if ( n4_20 != n4_10 ) goto LABEL_45; v42 = v101; n4_8 = n4_20 + 1; if ( v101 ) { v44 = *(google::protobuf::Arena **)v101; if ( 2 * n4_20 >= n4_8 ) n4_8 = 2 * n4_20; n4_7 = 4; v85 = *(google::protobuf::internal::RepeatedPtrFieldBase **)v101; if ( n4_8 >= 4 ) n4_7 = n4_8; n4_9 = n4_7; v46 = n4_7 + 8LL; if ( v44 ) { v101 = (void *)google::protobuf::Arena::AllocateAligned(v44, (const type_info *)&`typeinfo for'char, v46); *(_QWORD *)v101 = v85; n = n4_20; n4_12 = n4_10; n4_10 = n4_9; if ( n4_20 <= 0 ) goto LABEL_57; goto LABEL_55; } } else { if ( 2 * n4_20 >= n4_8 ) n4_8 = 2 * n4_20; n4_11 = 4; if ( n4_8 >= 4 ) n4_11 = n4_8; n4_9 = n4_11; v46 = n4_11 + 8LL; } v84 = (_QWORD *)operator new(v46); n = n4_20; v101 = v84; *v84 = 0; n4_12 = n4_10; n4_10 = n4_9; if ( (int)n > 0 ) { LABEL_55: n4_13 = n4_12; memcpy((char *)v101 + 8, v42 + 1, n); n4_12 = n4_13; } if ( !v42 ) goto LABEL_59; LABEL_57: if ( !*v42 ) operator delete(v42, n4_12 + 8); LABEL_59: n4_21 = n4_20; LABEL_45: n4_20 = n4_21 + 1; *((_BYTE *)v101 + n4_21 + 8) = v41; if ( v36 != v37 ) { qword28_5 = (__int64 *)this->qword28; ++v37; v34 = *qword28_5; v39 = *((unsigned int *)qword28_5 + 6) + 8 * (qword28_5[2] - *qword28_5) - *((unsigned int *)qword28_5 + 2); if ( v39 <= v37 ) goto LABEL_136; continue; } break; } LOBYTE(v13) = HIBYTE(this->attrib_flags); LABEL_99: v13 = (const google::protobuf::Message *)((unsigned __int8)v13 & 1); if ( (_DWORD)v13 ) { qword30_4 = this->qword30; v92 |= 0x80u; qword30_5 = qword30_4; } LABEL_25: HDDMDevice::writeMessage((HDDMDevice *)fileName, (std::ostream *)attrib_msg, v13); HDDMXng::BelUsageAttrib::~BelUsageAttrib((HDDMXng::BelUsageAttrib *)attrib_msg); return; case 4: case 5: case 6: qword28_6 = (__int64 *)this->qword28; if ( !qword28_6 ) goto LABEL_105; v17 = *qword28_6; v18 = (qword28_6[1] - *qword28_6) >> 5; if ( (int)v18 <= 0 ) goto LABEL_105; if ( !v18 ) { v28 = 0; v20 = 0; LABEL_134: std::__throw_out_of_range_fmt( "vector::_M_range_check: __n (which is %zu) >= this->size() (which is %zu)", v20, v28); } v19 = (unsigned int)(v18 - 1); v20 = 0; while ( 2 ) { v29 = v105; v21 = v104; v30 = 32 * v20 + v17; if ( !v105 ) goto LABEL_108; v31 = v103; v32 = *v105; if ( v103 >= *v105 ) { v21 = v104; if ( v32 == v104 ) { LABEL_108: google::protobuf::internal::RepeatedPtrFieldBase::Reserve( (google::protobuf::internal::RepeatedPtrFieldBase *)&v102, v21 + 1); v29 = v105; v32 = *v105; } *v29 = v32 + 1; v22 = v102; if ( v102 ) { v23 = (_QWORD *)google::protobuf::Arena::AllocateAligned( v102, (const type_info *)&`typeinfo for'std::string, 0x20u); v24 = v23; if ( v23 ) { v23[1] = 0; *((_BYTE *)v23 + 16) = 0; *v23 = v23 + 2; } google::protobuf::Arena::AddListNode( v22, v23, (void (*)(void *))google::protobuf::internal::arena_destruct_object<std::string>); v25 = v24; } else { v82 = operator new(0x20u); *(_QWORD *)(v82 + 8) = 0; *(_BYTE *)(v82 + 16) = 0; v25 = (_QWORD *)v82; *(_QWORD *)v82 = v82 + 16; } v26 = v103++; *(_QWORD *)&v105[2 * v26 + 2] = v25; } else { ++v103; v25 = *(_QWORD **)&v105[2 * v31 + 2]; } std::string::_M_assign(v25, v30); if ( v20 != v19 ) { qword28_7 = (__int64 *)this->qword28; ++v20; v17 = *qword28_7; v28 = (qword28_7[1] - *qword28_7) >> 5; if ( v28 <= v20 ) goto LABEL_134; continue; } break; } LOBYTE(v13) = HIBYTE(this->attrib_flags); LABEL_105: v13 = (const google::protobuf::Message *)((unsigned __int8)v13 & 1); if ( (_DWORD)v13 ) { v92 |= 2u; qword30_6 = this->qword30; if ( p__ZN6google8protobuf8internal26fixed_address_empty_stringB5cxx_1 == &google::protobuf::internal::fixed_address_empty_string[abi:cxx11] ) sub_E76770(&p__ZN6google8protobuf8internal26fixed_address_empty_stringB5cxx_1, qword30_6); else std::string::_M_assign(p__ZN6google8protobuf8internal26fixed_address_empty_stringB5cxx_1, qword30_6); } goto LABEL_25; default: goto LABEL_25; } } void __fastcall HDDMBelUsageAttrib::print(HDDMBelUsageAttrib *this, std::ostream *stream, std::string *filename) { char attrib_code_high; // al char v6; // al char n7; // al const char *unknown; // r15 __int64 v9; // r14 size_t v10; // rax __int64 v11; // r14 __int64 v12; // r14 size_t v13; // rax __int64 v14; // rax char v15; // al unsigned __int16 v16; // r14 unsigned __int8 v17; // si char n2; // al _QWORD *qword28_4; // rdx _QWORD *v20; // rax _QWORD *v21; // r13 _QWORD *qword30_1; // rbx char *_[MISMATCH]_2; // rax char *_[MISMATCH]_1; // rax char *_[MISMATCH]; // rax __int64 v26; // rax __int64 v27; // rax __int64 v28; // rax __int64 v29; // rax double **qword28_5; // rdx double *v31; // rax double *v32; // r13 unsigned int **qword28_3; // rdx unsigned int *v34; // rax unsigned int *v35; // r13 unsigned int voidVec1; // ebx __int64 voidVec; // rax _QWORD *v38; // r14 unsigned int n63; // r13d _QWORD *v40; // rcx int n63_1; // edx __int64 qword28_1; // rax __int64 qword28_2; // rax unsigned int voidVec1_low; // ebx char *s; // [rsp+8h] [rbp-60h] char *sa; // [rsp+8h] [rbp-60h] void *v47[2]; // [rsp+10h] [rbp-58h] BYREF _BYTE v48[72]; // [rsp+20h] [rbp-48h] BYREF v47[0] = v48; sub_F12340(v47, "", ""); if ( (this->attrib_flags & 0xFFF) != 0 ) std::string::append(v47, "W"); attrib_code_high = HIBYTE(this->attrib_flags); if ( (attrib_code_high & 4) != 0 ) { std::string::append(v47, "G"); attrib_code_high = HIBYTE(this->attrib_flags); } if ( (attrib_code_high & 0x40) != 0 ) std::string::append(v47, "E"); v6 = BYTE1(this->attrib_type); if ( (v6 & 2) != 0 ) { std::string::append(v47, "P"); v6 = BYTE1(this->attrib_type); } if ( (v6 & 0x40) != 0 ) { std::string::append(v47, "H"); if ( (this->attrib_type & 0x8000) == 0 ) goto LABEL_11; } else if ( v6 >= 0 ) { LABEL_11: n7 = (HIBYTE(this->attrib_flags) >> 3) & 7; goto LABEL_12; } std::string::append(v47, "B"); n7 = (HIBYTE(this->attrib_flags) >> 3) & 7; if ( n7 == 7 ) { LABEL_15: unknown = "unknown"; s = ""; goto LABEL_17; } LABEL_12: switch ( n7 ) { case 0: unknown = "unsigned"; s = ""; break; case 1: unknown = "int"; s = ""; break; case 2: _[MISMATCH] = ""; unknown = "double"; if ( (*(_QWORD *)&this->attrib_flags & 0xC00000000FFFLL) != 0 ) _[MISMATCH] = " [MISMATCH]"; s = _[MISMATCH]; break; case 3: unknown = "bool"; s = ""; break; case 4: unknown = "string"; s = ""; break; case 5: _[MISMATCH]_1 = ""; unknown = "bithex"; if ( (this->attrib_type & 0x8200) != 0 ) _[MISMATCH]_1 = " [MISMATCH]"; s = _[MISMATCH]_1; break; case 6: _[MISMATCH]_2 = ""; unknown = "bitbinary"; if ( (this->attrib_type & 0x4200) != 0 ) _[MISMATCH]_2 = " [MISMATCH]"; s = _[MISMATCH]_2; break; default: goto LABEL_15; } LABEL_17: v9 = std::__ostream_insert<char,std::char_traits<char>>(stream, *(_QWORD *)filename, *((_QWORD *)filename + 1)); v10 = strlen(unknown); std::__ostream_insert<char,std::char_traits<char>>(v9, unknown, v10); std::__ostream_insert<char,std::char_traits<char>>(v9, "[", 1); v11 = std::__ostream_insert<char,std::char_traits<char>>(v9, v47[0], v47[1]); std::__ostream_insert<char,std::char_traits<char>>(v11, "] ", 2); v12 = std::__ostream_insert<char,std::char_traits<char>>(v11, this->attrib_name, this->attribVoidVec); v13 = strlen(s); std::__ostream_insert<char,std::char_traits<char>>(v12, s, v13); std::endl<char,std::char_traits<char>>(v12); v14 = std::__ostream_insert<char,std::char_traits<char>>(stream, *(_QWORD *)filename, *((_QWORD *)filename + 1)); std::__ostream_insert<char,std::char_traits<char>>(v14, " ", 3); v15 = 0; if ( (this->attrib_flags & 0x2000000) != 0 ) { std::operator<<<std::char_traits<char>>(stream, " (HIDDEN=true)"); v15 = 1; } v16 = this->attrib_flags & 0xFFF; if ( v16 ) { std::__ostream_insert<char,std::char_traits<char>>(stream, " (Width=", 8); v26 = std::ostream::_M_insert<unsigned long>(stream, v16); std::operator<<<std::char_traits<char>>(v26, ")"); v17 = BYTE1(this->attrib_type); if ( (v17 & 2) == 0 ) goto LABEL_49; goto LABEL_48; } v17 = BYTE1(this->attrib_type); if ( (v17 & 2) != 0 ) { LABEL_48: std::__ostream_insert<char,std::char_traits<char>>(stream, " (percision=", 12); v27 = std::ostream::_M_insert<unsigned long>(stream, (v17 >> 2) & 7); std::operator<<<std::char_traits<char>>(v27, ")"); goto LABEL_49; } if ( !v15 ) { n2 = (HIBYTE(this->attrib_flags) >> 3) & 7; if ( n2 != 2 ) goto LABEL_23; goto LABEL_50; } LABEL_49: v28 = std::endl<char,std::char_traits<char>>(stream); v29 = std::__ostream_insert<char,std::char_traits<char>>(v28, *(_QWORD *)filename, *((_QWORD *)filename + 1)); std::operator<<<std::char_traits<char>>(v29, " "); n2 = (HIBYTE(this->attrib_flags) >> 3) & 7; if ( n2 != 2 ) { LABEL_23: if ( n2 == 3 ) { std::operator<<<std::char_traits<char>>(stream, " ( "); voidVec = this->qword28; if ( voidVec ) { v38 = *(_QWORD **)voidVec; n63 = *(_DWORD *)(voidVec + 8); v40 = *(_QWORD **)(voidVec + 16); n63_1 = *(_DWORD *)(voidVec + 24); while ( n63 != n63_1 || v38 != v40 ) { while ( 1 ) { std::ostream::_M_insert<bool>(stream, ((1LL << n63) & *v38) != 0); qword28_1 = this->qword28; v40 = *(_QWORD **)(qword28_1 + 16); n63_1 = *(_DWORD *)(qword28_1 + 24); if ( v40 != &v38[(n63 + 1LL) >> 6] || n63_1 != (((_BYTE)n63 + 1) & 0x3F) ) { std::__ostream_insert<char,std::char_traits<char>>(stream, ", ", 2); qword28_2 = this->qword28; n63_1 = *(_DWORD *)(qword28_2 + 24); v40 = *(_QWORD **)(qword28_2 + 16); } if ( n63 == 63 ) break; if ( ++n63 == n63_1 && v38 == v40 ) goto LABEL_74; } ++v38; n63 = 0; } } LABEL_74: if ( (this->attrib_flags & 0x1000000) != 0 ) { voidVec1_low = LOBYTE(this->qword30); std::__ostream_insert<char,std::char_traits<char>>(stream, " default=", 9); std::ostream::_M_insert<bool>(stream, voidVec1_low); } } else if ( n2 == 1 ) { std::operator<<<std::char_traits<char>>(stream, " ( "); qword28_3 = (unsigned int **)this->qword28; if ( qword28_3 ) { v34 = qword28_3[1]; v35 = *qword28_3; while ( v35 != v34 ) { while ( 1 ) { std::ostream::operator<<(stream, *v35++); v34 = *(unsigned int **)(this->qword28 + 8LL); if ( v35 == v34 ) break; std::__ostream_insert<char,std::char_traits<char>>(stream, ", ", 2); if ( v35 == *(unsigned int **)(this->qword28 + 8LL) ) goto LABEL_62; } } } LABEL_62: if ( (this->attrib_flags & 0x1000000) != 0 ) { voidVec1 = this->qword30; std::__ostream_insert<char,std::char_traits<char>>(stream, " default=", 9); std::ostream::operator<<(stream, voidVec1); } } else { std::operator<<<std::char_traits<char>>(stream, " ( "); qword28_4 = (_QWORD *)this->qword28; if ( qword28_4 ) { v20 = (_QWORD *)qword28_4[1]; v21 = (_QWORD *)*qword28_4; while ( v21 != v20 ) { while ( 1 ) { std::__ostream_insert<char,std::char_traits<char>>(stream, *v21, v21[1]); v21 += 4; v20 = *(_QWORD **)(this->qword28 + 8LL); if ( v21 == v20 ) break; std::__ostream_insert<char,std::char_traits<char>>(stream, ", ", 2); if ( v21 == *(_QWORD **)(this->qword28 + 8LL) ) goto LABEL_30; } } } LABEL_30: if ( (this->attrib_flags & 0x1000000) != 0 ) { qword30_1 = (_QWORD *)this->qword30; std::__ostream_insert<char,std::char_traits<char>>(stream, " default=", 9); std::__ostream_insert<char,std::char_traits<char>>(stream, *qword30_1, qword30_1[1]); } } goto LABEL_32; } LABEL_50: std::operator<<<std::char_traits<char>>(stream, " ( "); qword28_5 = (double **)this->qword28; if ( qword28_5 ) { v31 = qword28_5[1]; v32 = *qword28_5; while ( v32 != v31 ) { while ( 1 ) { std::ostream::_M_insert<double>(stream, *v32++); v31 = *(double **)(this->qword28 + 8LL); if ( v32 == v31 ) break; std::__ostream_insert<char,std::char_traits<char>>(stream, ", ", 2); if ( v32 == *(double **)(this->qword28 + 8LL) ) goto LABEL_55; } } } LABEL_55: if ( (this->attrib_flags & 0x1000000) != 0 ) { sa = (char *)this->qword30; std::__ostream_insert<char,std::char_traits<char>>(stream, " default=", 9); std::ostream::_M_insert<double>(stream, *(double *)&sa); } LABEL_32: std::operator<<<std::char_traits<char>>(stream, " ) "); if ( v47[0] != v48 ) operator delete(v47[0]); } void HDDMBelUsageAttrib::HDDMBelUsageAttrib(HDDMBelUsageAttrib *this) { __int16 word4; // ax word4 = this->attrib_type; LOWORD(this->attrib_flags) &= 0xF000u; BYTE2(this->attrib_type) &= 0xF0u; this->attribVoidVec = 0; this->attrib_flags |= 0xFFF000u; LOBYTE(this->qword18) = 0; HIBYTE(this->attrib_flags) = 0; LOWORD(this->attrib_type) = word4 & 0xFE00; BYTE1(this->attrib_type) = 0; HIWORD(this->attrib_type) |= 0xFFF0u; this->attrib_name = (char *)&this->qword18; LODWORD(this->qword40) = 0; this->qword48 = 0; *((_QWORD *)this + 12) = 0; *((_QWORD *)this + 10) = &this->qword40; *((_QWORD *)this + 11) = &this->qword40; this->qword30 = 0; this->qword28 = 0; } void HDDMBelUsageAttrib::~HDDMBelUsageAttrib(HDDMBelUsageAttrib *this) { char v2; // al void ***qword28_2; // r12 void **v4; // rbp void **v5; // rbx void **qword30; // rbx __int64 v7; // rax _QWORD *v8; // rdx _QWORD *v9; // r13 _QWORD *v10; // rbp unsigned __int64 v11; // r10 const char *v12; // rsi _QWORD *v13; // r8 _QWORD *v14; // rbx unsigned __int64 v15; // rcx _QWORD *_ZZN3hdi8tcltasks12native_cacheIP18HDDMBelUsageAttribE12t2n_ins; // r15 unsigned __int64 v17; // rsi __int64 v18; // r10 unsigned __int64 v19; // rtt __int64 v20; // r11 unsigned __int64 v21; // r9 __int64 **v22; // rdx __int64 *i; // rcx __int64 *v24; // rdi __int64 v25; // r8 unsigned __int64 v26; // rdx void **qword28_1; // rbx __int64 qword48; // rsi _QWORD *p_qword38; // rdi _QWORD *p_qword18; // r14 _QWORD *p_qword18_1; // rdi unsigned __int64 v32; // rdx void **qword28; // rbx __int64 v34; // [rsp+8h] [rbp-50h] HDDMBelUsageAttrib *p_this; // [rsp+18h] [rbp-40h] BYREF v2 = (HIBYTE(this->attrib_flags) >> 3) & 7; switch ( v2 ) { case 2: goto LABEL_40; case 3: qword28 = (void **)this->qword28; if ( qword28 ) { if ( *qword28 ) operator delete(*qword28); operator delete(qword28, 0x28u); } goto LABEL_44; case 1: LABEL_40: qword28_1 = (void **)this->qword28; if ( qword28_1 ) { if ( *qword28_1 ) operator delete(*qword28_1); operator delete(qword28_1, 0x18u); } LABEL_44: this->qword28 = 0; goto LABEL_45; } qword28_2 = (void ***)this->qword28; if ( qword28_2 ) { v4 = qword28_2[1]; v5 = *qword28_2; if ( v4 != *qword28_2 ) { do { if ( *v5 != v5 + 2 ) operator delete(*v5); v5 += 4; } while ( v4 != v5 ); v5 = *qword28_2; } if ( v5 ) operator delete(v5); operator delete(qword28_2, 0x18u); this->qword28 = 0; } qword30 = (void **)this->qword30; if ( qword30 ) { if ( *qword30 != qword30 + 2 ) operator delete(*qword30); operator delete(qword30, 0x20u); this->qword30 = 0; p_this = this; if ( !*(_BYTE *)hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::observers() ) goto LABEL_46; goto LABEL_17; } LABEL_45: p_this = this; if ( !*(_BYTE *)hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::observers() ) goto LABEL_46; LABEL_17: if ( !(_BYTE)`guard variable for'hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::n2t_instance(void)::cache && __cxa_guard_acquire(&`guard variable for'hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::n2t_instance(void)::cache) ) { hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::n2t_instance(void)::cache = hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::get_n2t_cache(); __cxa_guard_release(&`guard variable for'hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::n2t_instance(void)::cache); } v7 = std::_Hashtable<HDDMBelUsageAttrib const*,std::pair<HDDMBelUsageAttrib const* const,Tcl_Obj *>,std::allocator<std::pair<HDDMBelUsageAttrib const* const,Tcl_Obj *>>,std::__detail::_Select1st,std::equal_to<HDDMBelUsageAttrib const*>,boost::hash<HDDMBelUsageAttrib const*>,std::__detail::_Mod_range_hashing,std::__detail::_Default_ranged_hash,std::__detail::_Prime_rehash_policy,std::__detail::_Hashtable_traits<true,false,false>>::equal_range( hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::n2t_instance(void)::cache, &p_this); v34 = v7; v9 = v8; if ( (_QWORD *)v7 != v8 ) { v10 = (_QWORD *)v7; while ( 1 ) { if ( !(_BYTE)`guard variable for'hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::t2n_instance(void)::cache && __cxa_guard_acquire(&`guard variable for'hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::t2n_instance(void)::cache) ) { hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::t2n_instance(void)::cache = (_QWORD *)hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::get_t2n_cache(); __cxa_guard_release(&`guard variable for'hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::t2n_instance(void)::cache); } v11 = v10[2]; v12 = (const char *)hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::t2n_instance(void)::cache[1]; v13 = *(_QWORD **)(*hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::t2n_instance(void)::cache + 8 * ((v11 + (v11 >> 3)) % (unsigned __int64)v12)); if ( !v13 ) break; v14 = (_QWORD *)*v13; v15 = *(_QWORD *)(*v13 + 24LL); while ( v11 + (v10[2] >> 3) != v15 || v11 != v14[1] ) { if ( *v14 ) { v15 = *(_QWORD *)(*v14 + 24LL); v13 = v14; v14 = (_QWORD *)*v14; if ( (v11 + (v10[2] >> 3)) % (unsigned __int64)v12 == v15 % (unsigned __int64)v12 ) continue; } goto LABEL_26; } if ( !v13 || !v14 ) break; if ( (_BYTE)`guard variable for'hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::t2n_instance(void)::cache ) goto LABEL_29; if ( __cxa_guard_acquire(&`guard variable for'hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::t2n_instance(void)::cache) ) goto LABEL_64; if ( (_BYTE)`guard variable for'hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::t2n_instance(void)::cache ) goto LABEL_30; LABEL_55: if ( __cxa_guard_acquire(&`guard variable for'hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::t2n_instance(void)::cache) ) { hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::t2n_instance(void)::cache = (_QWORD *)hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::get_t2n_cache(); __cxa_guard_release(&`guard variable for'hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::t2n_instance(void)::cache); } LABEL_30: _ZZN3hdi8tcltasks12native_cacheIP18HDDMBelUsageAttribE12t2n_ins = hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::t2n_instance(void)::cache; v17 = hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::t2n_instance(void)::cache[1]; v18 = *hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::t2n_instance(void)::cache; v19 = v14[3]; v20 = 8 * (v19 % v17); v21 = v19 % v17; v22 = (__int64 **)(*hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::t2n_instance(void)::cache + v20); for ( i = *v22; ; i = (__int64 *)*i ) { v24 = (__int64 *)*i; if ( (_QWORD *)*i == v14 ) break; } v25 = *v14; if ( *v22 != i ) { if ( v25 ) { v26 = *(_QWORD *)(v25 + 24) % v17; if ( v21 != v26 ) { *(_QWORD *)(v18 + 8 * v26) = i; v25 = *v14; } } goto LABEL_37; } if ( !v25 ) { if ( i == hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::t2n_instance(void)::cache + 2 ) LABEL_67: _ZZN3hdi8tcltasks12native_cacheIP18HDDMBelUsageAttribE12t2n_ins[2] = v25; LABEL_62: *v22 = 0; v25 = *v24; goto LABEL_37; } v32 = *(_QWORD *)(v25 + 24) % v17; if ( v21 != v32 ) { *(_QWORD *)(v18 + 8 * v32) = i; v22 = (__int64 **)(*_ZZN3hdi8tcltasks12native_cacheIP18HDDMBelUsageAttribE12t2n_ins + v20); if ( *v22 == _ZZN3hdi8tcltasks12native_cacheIP18HDDMBelUsageAttribE12t2n_ins + 2 ) goto LABEL_67; goto LABEL_62; } LABEL_37: *i = v25; operator delete(v24); --_ZZN3hdi8tcltasks12native_cacheIP18HDDMBelUsageAttribE12t2n_ins[3]; hdi::tcltasks::native_cache_base::mark_invalid(v10[2]); hdi::tcltasks::native_cache_base::decr_refcount(v10[2]); v10 = (_QWORD *)*v10; if ( v9 == v10 ) { if ( !(_BYTE)`guard variable for'hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::n2t_instance(void)::cache && __cxa_guard_acquire(&`guard variable for'hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::n2t_instance(void)::cache) ) { hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::n2t_instance(void)::cache = hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::get_n2t_cache(); __cxa_guard_release(&`guard variable for'hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::n2t_instance(void)::cache); } std::_Hashtable<HDDMBelUsageAttrib const*,std::pair<HDDMBelUsageAttrib const* const,Tcl_Obj *>,std::allocator<std::pair<HDDMBelUsageAttrib const* const,Tcl_Obj *>>,std::__detail::_Select1st,std::equal_to<HDDMBelUsageAttrib const*>,boost::hash<HDDMBelUsageAttrib const*>,std::__detail::_Mod_range_hashing,std::__detail::_Default_ranged_hash,std::__detail::_Prime_rehash_policy,std::__detail::_Hashtable_traits<true,false,false>>::erase( hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::n2t_instance(void)::cache, v34, v9); goto LABEL_46; } } LABEL_26: if ( (_BYTE)`guard variable for'hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::t2n_instance(void)::cache || !__cxa_guard_acquire(&`guard variable for'hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::t2n_instance(void)::cache) ) { goto LABEL_28; } v14 = 0; LABEL_64: hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::t2n_instance(void)::cache = (_QWORD *)hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::get_t2n_cache(); __cxa_guard_release(&`guard variable for'hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::t2n_instance(void)::cache); if ( !v14 ) { LABEL_28: v14 = 0; hdi::tcltasks::native_cache_base::error((hdi::tcltasks::native_cache_base *)"native_cache<> corrupt", v12); } LABEL_29: if ( (_BYTE)`guard variable for'hdi::tcltasks::native_cache<HDDMBelUsageAttrib *>::t2n_instance(void)::cache ) goto LABEL_30; goto LABEL_55; } LABEL_46: qword48 = this->qword48; p_qword38 = &this->qword38; p_qword18 = &this->qword18; std::_Rb_tree<std::string,std::pair<std::string const,unsigned short>,std::_Select1st<std::pair<std::string const,unsigned short>>,std::less<std::string>,std::allocator<std::pair<std::string const,unsigned short>>>::_M_erase( p_qword38, qword48); p_qword18_1 = (_QWORD *)*(p_qword18 - 2); if ( p_qword18_1 != p_qword18 ) operator delete(p_qword18_1); }
10-30
我们面对的任务是优化一个复杂的C++函数，该函数涉及从流中读取数据并填充一个结构体，同时需要与Protobuf进行映射。原始函数非常复杂，包含大量的位操作和条件分支，我们的目标是提高执行效率，降低计算复杂度，...
#include <rclcpp/rclcpp.hpp> #include <cv_bridge/cv_bridge.h> #include <image_transport/image_transport.hpp> #include <tf2_ros/transform_broadcaster.h> #include <geometry_msgs/msg/transform_stamped.hpp> #include <opencv2/opencv.hpp> #include <opencv2/calib3d.hpp> #include <sensor_msgs/msg/image.hpp> #include <sensor_msgs/msg/camera_info.hpp> #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp> // 装甲板实际尺寸（单位：米） const double ARMOR_WIDTH = 0.13; const double ARMOR_HEIGHT = 0.055; const double HALF_WIDTH = ARMOR_WIDTH / 2.0; const double HALF_HEIGHT = ARMOR_HEIGHT / 2.0; class ArmorDetector : public rclcpp::Node { public: ArmorDetector() : Node("armor_detector") { // 订阅图像话题（需根据实际话题名修改） image_sub_ = image_transport::create_subscription( this, "/camera/image_raw", std::bind(&ArmorDetector::imageCallback, this, std::placeholders::_1), "raw", rmw_qos_profile_sensor_data); // 发布处理后的图像 image_pub_ = image_transport::create_publisher(this, "armor_detection_result"); // TF广播器 tf_broadcaster_ = std::make_unique<tf2_ros::TransformBroadcaster>(*this); // 初始化相机内参（需根据实际相机标定修改） camera_matrix_ = (cv::Mat_<double>(3, 3) << 1000.0, 0.0, 320.0, 0.0, 1000.0, 240.0, 0.0, 0.0, 1.0; dist_coeffs_ = cv::Mat::zeros(5, 1, CV_64F); // 定义装甲板3D角点（中心为原点） object_points_ = { {-HALF_WIDTH, -HALF_HEIGHT, 0.0}, // 左下 {HALF_WIDTH, -HALF_HEIGHT, 0.0}, // 右下 {HALF_WIDTH, HALF_HEIGHT, 0.0}, // 右上 {-HALF_WIDTH, HALF_HEIGHT, 0.0} // 左上 }; } private: void imageCallback(const sensor_msgs::msg::Image::ConstSharedPtr& msg) { try { // 转换为OpenCV图像 cv::Mat frame = cv_bridge::toCvShare(msg, "bgr8")->image; cv::Mat gray, binary; // 预处理：灰度化+二值化 cv::cvtColor(frame, gray, cv::COLOR_BGR2GRAY); cv::threshold(gray, binary, 200, 255, cv::THRESH_BINARY); // 轮廓检测 std::vector<std::vector<cv::Point>> contours; cv::findContours(binary, contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE); // 灯条识别 std::vector<cv::RotatedRect> light_bars; for (const auto& contour : contours) { if (contour.size() < 5) continue; auto rect = cv::minAreaRect(contour); float aspect_ratio = std::max(rect.size.width, rect.size.height) / std::min(rect.size.width, rect.size.height); // 筛选灯条（长宽比和面积） if (aspect_ratio > 4.0 && rect.size.area() > 100.0) { light_bars.push_back(rect); } } // 配对灯条形成装甲板 if (light_bars.size() >= 2) { // 简化为取前两个灯条（实际需更复杂配对逻辑） auto& left_bar = light_bars[0]; auto& right_bar = light_bars[1]; // 获取装甲板角点 std::vector<cv::Point2f> image_points = { left_bar.center + cv::Point2f(0, -left_bar.size.height/2), right_bar.center + cv::Point2f(0, -right_bar.size.height/2), right_bar.center + cv::Point2f(0, right_bar.size.height/2), left_bar.center + cv::Point2f(0, left_bar.size.height/2) }; // PnP解算 cv::Mat rvec, tvec; cv::solvePnP(object_points_, image_points, camera_matrix_, dist_coeffs_, rvec, tvec, false, cv::SOLVEPNP_EPNP); // 计算装甲板中心坐标 double distance = cv::norm(tvec); cv::Point3f armor_center(tvec.at<double>(0), tvec.at<double>(1), tvec.at<double>(2)); // 重投影装甲板中心 std::vector<cv::Point3f> center_point = {{0, 0, 0}}; std::vector<cv::Point2f> projected_point; cv::projectPoints(center_point, rvec, tvec, camera_matrix_, dist_coeffs_, projected_point); // 绘制结果 for (int i = 0; i < 4; ++i) { cv::line(frame, image_points[i], image_points[(i+1)%4], cv::Scalar(0,255,0), 2); } cv::circle(frame, projected_point[0], 5, cv::Scalar(0,0,255), -1); cv::putText(frame, "Dist: " + std::to_string(distance) + "m", cv::Point(10,30), cv::FONT_HERSHEY_SIMPLEX, 0.7, cv::Scalar(0,255,0), 2); // 发布TF变换 publishTransform(rvec, tvec); } // 发布处理后的图像 auto result_msg = cv_bridge::CvImage(msg->header, "bgr8", frame).toImageMsg(); image_pub_.publish(result_msg); } catch (const cv_bridge::Exception& e) { RCLCPP_ERROR(this->get_logger(), "CV Bridge error: %s", e.what()); } } void publishTransform(const cv::Mat& rvec, const cv::Mat& tvec) { // 转换为tf2 Transform tf2::Transform transform; cv::Mat rotation_mat; cv::Rodrigues(rvec, rotation_mat); tf2::Matrix3x3 tf_rot( rotation_mat.at<double>(0,0), rotation_mat.at<double>(0,1), rotation_mat.at<double>(0,2), rotation_mat.at<double>(1,0), rotation_mat.at<double>(1,1), rotation_mat.at<double>(1,2), rotation_mat.at<double>(2,0), rotation_mat.at<double>(2,1), rotation_mat.at<double>(2,2)); transform.setBasis(tf_rot); transform.setOrigin(tf2::Vector3( tvec.at<double>(0), tvec.at<double>(1), tvec.at<double>(2))); // 创建TransformStamped消息 geometry_msgs::msg::TransformStamped tf_msg; tf_msg.header.stamp = this->now(); tf_msg.header.frame_id = "camera_frame"; tf_msg.child_frame_id = "armor_center"; tf_msg.transform = tf2::toMsg(transform); tf_broadcaster_->sendTransform(tf_msg); } image_transport::Subscriber image_sub_; image_transport::Publisher image_pub_; std::vector<cv::Point3f> object_Points; }; int main(int argc,char** argv) { rclcpp::init(argc,argv); auto node = std::make_shared<AromorDector>(); rclcpp::spin(node); rclcpp::shutdown(); return 0; }
08-05
// 使用迭代法提高精度 cv::solvePnP(objectPoints, imagePoints, cameraMatrix, distCoeffs, rvec, tvec, false, cv::SOLVEPNP_ITERATIVE); } ``` #### 5. TF变换发布 ```cpp #include <tf/transform_...
Boost 第十章 操作系统相关
weixin_42325783的博客
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285个地级市邻接矩阵、经济地理矩阵等8个矩阵数据（2003-2023年）
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【影视数据分析】基于C++的多维度可视化系统设计：实现高效实时数据处理与交互式决策支持 项目介绍 基于C++的影视数据可视化系统设计和实现的详细项目实例（含模型描述及部分示例代码）
最新发布
11-25
内容概要：本文详细介绍了一个基于C++的影视数据可视化系统的设计与实现，旨在应对影视行业海量、多源数据带来的分析挑战。系统利用C++的高性能优势，实现了大规模数据的高效处理与实时更新，支持多维度数据分析，涵盖票房、用户评价、社交媒体热度等，并通过柱状图、折线图、热力图、词云等多种可视化方式直观展示数据。项目强调用户友好的界面设计、跨平台兼容性、可扩展性与可定制性，结合创新的交互设计，提升用户体验与决策效率。系统不仅服务于影视创作者和营销团队，也为行业数字化转型和创新发展提供数据驱动的支持。; 适合人群：具备一定C++编程基础，从事数据分析、可视化开发或影视行业技术研究的研发人员、软件工程师及高校学生。; 使用场景及目标：①学习如何利用C++构建高性能数据可视化系统；②掌握多源数据融合、实时处理与图形渲染的技术方案；③为影视项目提供数据支持，优化内容创作与市场策略； 阅读建议：建议结合文中提到的模型设计与示例代码进行实践，重点关注数据处理流程、可视化模块实现及系统架构设计，同时可联系作者获取完整代码与GUI资源以加深理解。
CSS插入图片方法[可运行源码]
11-25
本文详细介绍了在CSS中插入图片的多种方法，包括使用background-image属性和background简写属性。通过设置不同的背景属性值，如background-color、background-position、background-size等，可以灵活控制背景图片的显示效果。文章还提供了具体的HTML示例代码，展示了如何在实际项目中应用这些属性。此外，还解释了背景图像默认位于元素左上角并在水平和垂直方向上重复的特性，以及如何通过background-repeat属性调整平铺方式。
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11-25
本文详细介绍了在jQuery和HTML中如何设置和移除表单元素的只读（readonly）和禁用（disabled）属性。在jQuery部分，通过attr()和removeAttr()方法演示了属性的动态操作，并对比了readonly与disabled的区别：disabled会阻止元素获取焦点且表单提交时排除该字段，而readonly仅限制编辑但仍可聚焦和提交。HTML部分列举了三种实现方式（onfocus=this.blur()、readonly、disabled），并附代码示例说明其视觉效果及交互差异（如灰色显示、Tab键切换等）。最后指出两者可结合使用，并补充了CSS屏蔽输入的技巧。
SQL编码规范指南[项目源码]
11-25
本文详细介绍了SQL编码规范的重要性及其具体实施方法。规范化的SQL代码能显著提升可读性、便于问题定位和团队协作。文章强调了大小写的正确使用、单引号与双引号的应用场景、缩进对齐原则、禁止使用SELECT *操作、注释的添加规范以及子句的排版规则等关键点。此外，还提供了表别名的命名建议、字段逗号放置位置等实用技巧，旨在帮助开发者编写清晰、整齐、结构化的SQL代码，从而提升编程效率和代码质量。
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11-25
本文详细介绍了Layui框架中各种表单元素的输入事件监听方法，包括单选框、复选框、下拉菜单、输入框内容变动以及提交按钮的监听。通过示例代码展示了如何实时获取用户输入的值、监听表单元素的变化以及处理提交事件。此外，还提供了带注释的代码片段，帮助开发者理解每个事件监听器的具体功能和用法。这些方法可以广泛应用于表单验证、动态数据更新等场景，提升用户交互体验。
boost::pfr::for_each_field
04-03
### 使用 `boost::pfr::for_each_field` 的方法与示例 `boost::pfr::for_each_field` 是一个用于遍历结构体字段的强大工具，它可以显著简化对结构体成员的操作。以下是关于该函数的具体用法及其工作原理。 #### ...
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