stl_uninitialized.h

本文详细解析了STL中未初始化操作的功能及其实现原理,包括uninitialized_copy、uninitialized_copy_n、uninitialized_fill及uninitialized_fill_n等函数。通过源码分析,介绍了这些函数如何高效地进行数据复制与填充。
stl_uninitialized.h
// Filename:    stl_uninitialized.h

// Comment By:  凝霜
// E-mail:      mdl2009@vip.qq.com
// Blog:        http://blog.youkuaiyun.com/mdl13412

// 主要接口:
//
//      template <class InputIterator, class ForwardIterator>
//      inline ForwardIterator
//      uninitialized_copy(InputIterator first, InputIterator last,
//                         ForwardIterator result)
//      将[first, last)的对象复制一份到[result, result + (last - first))
//      对于char和wchar_t提供特化版本, 以获取最佳效率
//      注: commit or rollback
//
//      template <class InputIterator, class Size, class ForwardIterator>
//      inline pair<InputIterator, ForwardIterator>
//      uninitialized_copy_n(InputIterator first, Size count,
//                           ForwardIterator result)
//      从first开始, 复制count个对象到[result, result + n)
//      注: commit or rollback
//
//      template <class ForwardIterator, class T>
//      inline void uninitialized_fill(ForwardIterator first,
//                                     ForwardIterator last,
//                                     const T& x)
//      将x复制到pfirst, last)
//      注: commit or rollback
//
//      template <class ForwardIterator, class Size, class T>
//      inline ForwardIterator uninitialized_fill_n(ForwardIterator first,
//                                                  Size n, const T& x)
//      复制n个x对象到[first, first + n)
//      注: commit or rollback

/*
 *
 * Copyright (c) 1994
 * Hewlett-Packard Company
 *
 * Permission to use, copy, modify, distribute and sell this software
 * and its documentation for any purpose is hereby granted without fee,
 * provided that the above copyright notice appear in all copies and
 * that both that copyright notice and this permission notice appear
 * in supporting documentation.  Hewlett-Packard Company makes no
 * representations about the suitability of this software for any
 * purpose.  It is provided "as is" without express or implied warranty.
 *
 *
 * Copyright (c) 1996,1997
 * Silicon Graphics Computer Systems, Inc.
 *
 * Permission to use, copy, modify, distribute and sell this software
 * and its documentation for any purpose is hereby granted without fee,
 * provided that the above copyright notice appear in all copies and
 * that both that copyright notice and this permission notice appear
 * in supporting documentation.  Silicon Graphics makes no
 * representations about the suitability of this software for any
 * purpose.  It is provided "as is" without express or implied warranty.
 */

/* NOTE: This is an internal header file, included by other STL headers.
 *   You should not attempt to use it directly.
 */

#ifndef __SGI_STL_INTERNAL_UNINITIALIZED_H
#define __SGI_STL_INTERNAL_UNINITIALIZED_H

__STL_BEGIN_NAMESPACE

////////////////////////////////////////////////////////////////////////////////
// uninitialized_copy()实现部分
////////////////////////////////////////////////////////////////////////////////
//                         特化char版本
//                      |---------------> (char *, ...)  <---    字串串专用版本
//                      |  特化wchar_t版本                   |--- 调用memmove()
// uninitialized_copy ------------------> (wchar_t, ...) <---    获取最佳效率
//                      |
//                      |
//                      | 泛化   调用 __uninitialized_copy()
//                      |----->  根据类型是否为POD进行函数派发
//                                           |
//                                           |---------------- Is POD?
//                                           |
//              -------------------------------------
//           No |                                   | Yes
//              ↓                                   |
// __uninitialized_copy_aux(..., __false_type)      |
// for ( ; first != last; ++first, ++cur)           |
//      construct(&*cur, *first);                   ↓
//                                   __uninitialized_copy_aux(..., __true_type)
//                                   copy(first, last, result)
////////////////////////////////////////////////////////////////////////////////

// 如果copy construction和operator =等效, 并且destructor is trivial
// 那么就可以使用本函数
// 返回值为目标地址的end
// 注: 使用copy()进行复制的时候, 调用的是对象的operator =,
//     所以要满足copy construction和operator =等效,
//     destructor is trivial保证在此版本中不会进行析构,
//     以保证效率
template <class InputIterator, class ForwardIterator>
inline ForwardIterator
__uninitialized_copy_aux(InputIterator first, InputIterator last,
                         ForwardIterator result,
                         __true_type)
{
  // 调用的是STL算法copy()
  return copy(first, last, result);
}

// 如果copy construction和operator =不等效, 那么就要调用construct()进行构造
template <class InputIterator, class ForwardIterator>
ForwardIterator
__uninitialized_copy_aux(InputIterator first, InputIterator last,
                         ForwardIterator result,
                         __false_type)
{
  ForwardIterator cur = result;
  __STL_TRY {
    // 因为copy construction和operator =不等效,
    // 则必须每个对象都以其它对象为蓝本进行构造
    // 本实作中使用的是placement new进行构造
    for ( ; first != last; ++first, ++cur)
      construct(&*cur, *first);
    return cur;
  }
  // commit or rollback
  // 如果分配失败就stack unwinding,
  // 保证所有对象都被析构
  __STL_UNWIND(destroy(result, cur));
}

// 派发函数, traits出T是否为POD, 然后进行派发
template <class InputIterator, class ForwardIterator, class T>
inline ForwardIterator
__uninitialized_copy(InputIterator first, InputIterator last,
                     ForwardIterator result, T*)
{
  // POD = Plain Old Data
  // 其具有trvial constructor/destructor/copy constructor/operator =
  // 所有的C++内置基本数据类型和传统C struct都属于POD
  typedef typename __type_traits<T>::is_POD_type is_POD;

  // 根据是否为POD类型进行派发, 以保证效率
  return __uninitialized_copy_aux(first, last, result, is_POD());
}

template <class InputIterator, class ForwardIterator>
inline ForwardIterator
  uninitialized_copy(InputIterator first, InputIterator last,
                     ForwardIterator result)
{
  // 调用派发函数, 根据是否为POD决议出最佳效率的函数
  return __uninitialized_copy(first, last, result, value_type(result));
}

// 提供给char专用, 效率最优化
inline char* uninitialized_copy(const char* first, const char* last,
                                char* result)
{
  memmove(result, first, last - first);
  return result + (last - first);
}

// 提供给wchar_t专用, 效率最优化
inline wchar_t* uninitialized_copy(const wchar_t* first, const wchar_t* last,
                                   wchar_t* result)
{
  memmove(result, first, sizeof(wchar_t) * (last - first));
  return result + (last - first);
}

////////////////////////////////////////////////////////////////////////////////
// uninitialized_copy_n()实现部分
////////////////////////////////////////////////////////////////////////////////
//                         uninitialized_copy_n
//                                  |
//                                  |------------ 判断迭代器first的类别
//                                  |
//               -----------------------------------------
// InputIterator |                                       | RandomAccessIterator
//               |                                       |
//               ↓                                       |
// __uninitialized_copy_n(..., input_iterator_tag)       |
// for ( ; count > 0 ; --count, ++first, ++cur)          |
//    construct(&*cur, *first);                          |
//                                                       ↓
//                    __uninitialized_copy_n(..., random_access_iterator_tag)
//                    last = first + count;
//                    uninitialized_copy(first, last, result)
////////////////////////////////////////////////////////////////////////////////

// POD版本
template <class InputIterator, class Size, class ForwardIterator>
pair<InputIterator, ForwardIterator>
__uninitialized_copy_n(InputIterator first, Size count,
                       ForwardIterator result,
                       input_iterator_tag)
{
  ForwardIterator cur = result;
  __STL_TRY {
    for ( ; count > 0 ; --count, ++first, ++cur)
      construct(&*cur, *first);
    return pair<InputIterator, ForwardIterator>(first, cur);
  }
  __STL_UNWIND(destroy(result, cur));
}

// 非POD版本
// 对于支持随机存取的迭代器, 可以直接使用uninitialized_copy()进行复制
template <class RandomAccessIterator, class Size, class ForwardIterator>
inline pair<RandomAccessIterator, ForwardIterator>
__uninitialized_copy_n(RandomAccessIterator first, Size count,
                       ForwardIterator result,
                       random_access_iterator_tag)
{
  RandomAccessIterator last = first + count;
  return make_pair(last, uninitialized_copy(first, last, result));
}

template <class InputIterator, class Size, class ForwardIterator>
inline pair<InputIterator, ForwardIterator>
uninitialized_copy_n(InputIterator first, Size count,
                     ForwardIterator result)
{
  return __uninitialized_copy_n(first, count, result,
                                iterator_category(first));
}

////////////////////////////////////////////////////////////////////////////////
// uninitialized_fill()实现部分
////////////////////////////////////////////////////////////////////////////////
//                           uninitialized_fill
//                                   |
//                                   |
//                                   ↓
//                       调用__uninitialized_fill()
//                       根据类型是否为POD进行函数派发
//                                   |
//                                   |---------------- Is POD?
//                   No 泛化版本      |      Yes 特化版本
//               -------------------------------------------
//               |                                         |
//               |                                         |
//               ↓                                         |
// __uninitialized_fill_aux(..., __false_type)             |
// for ( ; cur != last; ++cur)                             |
//    construct(&*cur, x);                                 ↓
//                                __uninitialized_fill_aux(..., __true_type)
//                                fill(first, last, x);
////////////////////////////////////////////////////////////////////////////////

// POD版本
// 如果copy construction和operator =等效, 并且destructor is trivial
// 那么就可以使用本函数
template <class ForwardIterator, class T>
inline void
__uninitialized_fill_aux(ForwardIterator first, ForwardIterator last,
                         const T& x, __true_type)
{
  fill(first, last, x);
}

// 非POD版本
template <class ForwardIterator, class T>
void
__uninitialized_fill_aux(ForwardIterator first, ForwardIterator last,
                         const T& x, __false_type)
{
  ForwardIterator cur = first;
  __STL_TRY {
    for ( ; cur != last; ++cur)
      construct(&*cur, x);
  }
  __STL_UNWIND(destroy(first, cur));
}

// 派发函数
template <class ForwardIterator, class T, class T1>
inline void __uninitialized_fill(ForwardIterator first, ForwardIterator last,
                                 const T& x, T1*)
{
  typedef typename __type_traits<T1>::is_POD_type is_POD;
  __uninitialized_fill_aux(first, last, x, is_POD());

}

template <class ForwardIterator, class T>
inline void uninitialized_fill(ForwardIterator first, ForwardIterator last,
                               const T& x)
{
  __uninitialized_fill(first, last, x, value_type(first));
}

////////////////////////////////////////////////////////////////////////////////
// uninitialized_fill_n()实现部分
////////////////////////////////////////////////////////////////////////////////
//                           uninitialized_fill_n
//                                   |
//                                   |
//                                   ↓
//                      调用__uninitialized_fill_n()
//                      根据类型是否为POD进行函数派发
//                                   |
//                                   |---------------- Is POD?
//                   No 泛化版本      |      Yes 特化版本
//               -------------------------------------------
//               |                                         |
//               |                                         |
//               ↓                                         |
// __uninitialized_fill_n_aux(..., __false_type)           |
// for ( ; n > 0; --n, ++cur)                              |
//    construct(&*cur, x);                                 |
//                                                         ↓
//                               __uninitialized_fill_n_aux(..., __true_type)
//                               fill_n(first, n, x);
////////////////////////////////////////////////////////////////////////////////

// 如果copy construction和operator =等效, 并且destructor is trivial
// 那么就可以使用本函数
template <class ForwardIterator, class Size, class T>
inline ForwardIterator
__uninitialized_fill_n_aux(ForwardIterator first, Size n,
                           const T& x, __true_type)
{
  return fill_n(first, n, x);
}

template <class ForwardIterator, class Size, class T>
ForwardIterator
__uninitialized_fill_n_aux(ForwardIterator first, Size n,
                           const T& x, __false_type)
{
  ForwardIterator cur = first;
  __STL_TRY {
    for ( ; n > 0; --n, ++cur)
      construct(&*cur, x);
    return cur;
  }
  __STL_UNWIND(destroy(first, cur));
}

template <class ForwardIterator, class Size, class T, class T1>
inline ForwardIterator __uninitialized_fill_n(ForwardIterator first, Size n,
                                              const T& x, T1*)
{
  typedef typename __type_traits<T1>::is_POD_type is_POD;
  return __uninitialized_fill_n_aux(first, n, x, is_POD());

}

template <class ForwardIterator, class Size, class T>
inline ForwardIterator uninitialized_fill_n(ForwardIterator first, Size n,
                                            const T& x)
{
  return __uninitialized_fill_n(first, n, x, value_type(first));
}

////////////////////////////////////////////////////////////////////////////////
// 其它函数实现
////////////////////////////////////////////////////////////////////////////////

// Copies [first1, last1) into [result, result + (last1 - first1)), and
// copies [first2, last2) into
// [result, result + (last1 - first1) + (last2 - first2)).

// 我认为应该是把[first2, last2)copy到
// [result + (last1 - first1), result + (last1 - first1) + (last2 - first2))
// 大家可以讨论一下
template <class InputIterator1, class InputIterator2, class ForwardIterator>
inline ForwardIterator
__uninitialized_copy_copy(InputIterator1 first1, InputIterator1 last1,
                          InputIterator2 first2, InputIterator2 last2,
                          ForwardIterator result)
{
  ForwardIterator mid = uninitialized_copy(first1, last1, result);
  __STL_TRY {
    return uninitialized_copy(first2, last2, mid);
  }
  __STL_UNWIND(destroy(result, mid));
}

// Fills [result, mid) with x, and copies [first, last) into
//  [mid, mid + (last - first)).
template <class ForwardIterator, class T, class InputIterator>
inline ForwardIterator
__uninitialized_fill_copy(ForwardIterator result, ForwardIterator mid,
                          const T& x,
                          InputIterator first, InputIterator last)
{
  uninitialized_fill(result, mid, x);
  __STL_TRY {
    return uninitialized_copy(first, last, mid);
  }
  __STL_UNWIND(destroy(result, mid));
}

// Copies [first1, last1) into [first2, first2 + (last1 - first1)), and
//  fills [first2 + (last1 - first1), last2) with x.
template <class InputIterator, class ForwardIterator, class T>
inline void
__uninitialized_copy_fill(InputIterator first1, InputIterator last1,
                          ForwardIterator first2, ForwardIterator last2,
                          const T& x)
{
  ForwardIterator mid2 = uninitialized_copy(first1, last1, first2);
  __STL_TRY {
    uninitialized_fill(mid2, last2, x);
  }
  __STL_UNWIND(destroy(first2, mid2));
}

__STL_END_NAMESPACE

#endif /* __SGI_STL_INTERNAL_UNINITIALIZED_H */

// Local Variables:
// mode:C++
// End:

#0 __memcpy_generic () at ../sysdeps/aarch64/multiarch/../memcpy.S:163 #1 0x00000000004a0efc in std::_Construct<esw::SingleProcessedData, esw::SingleProcessedData&> (__p=<optimized out>) at /usr/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/aarch64-linux-gnu/include/c++/7.3.1/bits/stl_construct.h:75 #2 std::__uninitialized_copy<false>::__uninit_copy<esw::SingleProcessedData*, esw::SingleProcessedData*> (__result=<optimized out>, __last=<optimized out>, __first=0xffff637f0600) at /usr/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/aarch64-linux-gnu/include/c++/7.3.1/bits/stl_uninitialized.h:83 #3 std::uninitialized_copy<esw::SingleProcessedData*, esw::SingleProcessedData*> (__result=<optimized out>, __last=<optimized out>, __first=<optimized out>) at /usr/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/aarch64-linux-gnu/include/c++/7.3.1/bits/stl_uninitialized.h:134 #4 std::__uninitialized_copy_a<esw::SingleProcessedData*, esw::SingleProcessedData*, esw::SingleProcessedData> (__result=0x3ff09ee2435696e6, __last=0xffff637f0ab0, __first=0xffff637f0600) at /usr/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/aarch64-linux-gnu/include/c++/7.3.1/bits/stl_uninitialized.h:289 #5 std::vector<esw::SingleProcessedData, std::allocator<esw::SingleProcessedData> >::_M_range_insert<esw::SingleProcessedData*> ( this=this@entry=0xffff5c02c530, __position=<error reading variable: Cannot access memory at address 0xbfb6ea48ec621fc7>, __first=__first@entry=0xffff637f0600, __last=0xffff637f0ab0, __last@entry=0xffff637f0af0) at /usr/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/aarch64-linux-gnu/include/c++/7.3.1/bits/vector.tcc:657 #6 0x000000000049f45c in std::vector<esw::SingleProcessedData, std::allocator<esw::SingleProcessedData> >::_M_insert_dispatch<esw::SingleProcessedData*> (__last=<optimized out>, __first=0xffff637f0640, __pos=..., this=0xffff5c02c530) at /usr/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/aarch64-linux-gnu/include/c++/7.3.1/bits/stl_vector.h:1406 #7 std::vector<esw::SingleProcessedData, std::allocator<esw::SingleProcessedData> >::insert<esw::SingleProcessedData*, void> ( __last=<optimized out>, __first=0xffff637f0640, __position=..., this=0xffff5c02c530) at /usr/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/aarch64-linux-gnu/include/c++/7.3.1/bits/stl_vector.h:1132 #8 esw::MagTracking::SolveSingleSensor (this=0xffff5c02adb0, vecRawData=..., trackingResult=...) at /mnt/v1/wenzhao.huang/Emts-alg/BoardSoftware/Algorithm/src/emts_alg_mag_tracking.cpp:235 #9 0x0000000000436ac4 in esw::TerminalController::GetTrackingResult (this=this@entry=0xffff5c014778, singleDataVec=..., singleUnit=<optimized out>, exception=@0xffff5c01bd9a: 0, location=...) at /mnt/v1/wenzhao.huang/Emts-alg/BoardSoftware/Feature/src/emts_feature_terminal_controller.cpp:194 #10 0x0000000000434d2c in esw::TrackingManager::Run (this=0xffff5c013bf0) at /mnt/v1/wenzhao.huang/Emts-alg/BoardSoftware/Feature/src/emts_feature_tracking_manager.cpp:192 #11 0x0000ffff8707af9c in ?? () from /lib/aarch64-linux-gnu/libstdc++.so.6 #12 0x0000ffff871b2624 in start_thread (arg=0xffff8707af80) at pthread_create.c:477 #13 0x0000ffff86def62c in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:78
最新发布
08-26
#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 <string> #include <memory> #include <atomic> #include <limits> using 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_min(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<uint64_t> message_count{0}; std::atomic<uint64_t> total_latency{0}; // 改为uint64避免溢出 std::atomic<int64_t> max_latency{0}; std::atomic<int64_t> min_latency{std::numeric_limits<int64_t>::max()}; // 原子重置方法 void reset() { message_count = 0; total_latency = 0; max_latency = 0; min_latency = std::numeric_limits<int64_t>::max(); } }; // 消息数据结构 struct MessageData { double value; std::chrono::steady_clock::time_point 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() { running_ = false; for (auto& thread : threads_) { if (thread.joinable()) thread.join(); } if (monitor_thread_.joinable()) monitor_thread_.join(); } 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::string thread_name = "sub_thread_" + std::to_string(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_string(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() && running_) { 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_min(stats.min_latency, latency); } // 监控循环(无锁) void monitor_loop() { auto last_print = std::chrono::steady_clock::now(); while (rclcpp::ok() && running_) { 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.min_latency = stats.min_latency.exchange(std::numeric_limits<int64_t>::max()); snapshot.push_back(s); } // 输出统计(非实时上下文) print_stats(snapshot); } } // 打印统计(无锁) void print_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) continue; 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 | Min: %ld us", i, stats.message_count.load(), avg_latency, stats.max_latency.load(), stats.min_latency.load()); } } // 成员变量 std::vector<std::thread> threads_; std::thread monitor_thread_; std::atomic<bool> running_{true}; realtime_utils::LockFreeRingBuffer<MessageData, 20000> message_buffer_; // 增大缓冲区 std::vector<ThreadStats> thread_stats_; // 无锁统计 }; int main(int argc, char** argv) { rclcpp::init(argc, argv); auto node = std::make_shared<MultiThreadSubscriber>(); rclcpp::spin(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 <string> #include <memory> #include <atomic> #include <limits> using 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_min(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<uint64_t> message_count{0}; std::atomic<uint64_t> total_latency{0}; // 改为uint64避免溢出 std::atomic<int64_t> max_latency{0}; std::atomic<int64_t> min_latency{std::numeric_limits<int64_t>::max()}; // 原子重置方法 void reset() { message_count = 0; total_latency = 0; max_latency = 0; min_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() { running_ = false; for (auto& thread : threads_) { if (thread.joinable()) thread.join(); } if (monitor_thread_.joinable()) monitor_thread_.join(); } 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::string thread_name = "pub_thread_" + std::to_string(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_string(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(); uint64_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() && running_) { 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_min(stats.min_latency, latency); } // 监控循环(无锁) void monitor_loop() { auto last_print = std::chrono::steady_clock::now(); while (rclcpp::ok() && running_) { 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.min_latency = stats.min_latency.exchange(std::numeric_limits<int64_t>::max()); snapshot.push_back(s); } // 输出统计(非实时上下文) print_stats(snapshot); } } // 打印统计(无锁) void print_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) continue; 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 | Min: %ld us", i, stats.message_count.load(), avg_latency, stats.max_latency.load(), stats.min_latency.load()); } } // 成员变量 std::vector<std::thread> threads_; std::thread monitor_thread_; std::atomic<bool> running_{true}; std::vector<ThreadStats> thread_stats_; // 无锁统计 }; int main(int argc, char** argv) { rclcpp::init(argc, argv); if (getuid() != 0) { RCLCPP_ERROR(rclcpp::get_logger("main"), "This program requires root privileges for real-time scheduling"); return 1; } auto node = std::make_shared<MultiThreadPublisher>(); rclcpp::spin(node); rclcpp::shutdown(); return 0; } 报错: --- stderr: realtime_demo /home/yidds/YiDDS/multithreading_YIDDS/src/realtime_demo/src/multithread_subscriber.cpp: In member function ‘void MultiThreadSubscriber::monitor_loop()’: /home/yidds/YiDDS/multithreading_YIDDS/src/realtime_demo/src/multithread_subscriber.cpp:154:14: warning: variable ‘last_print’ set but not used [-Wunused-but-set-variable] 154 | auto last_print = std::chrono::steady_clock::now(); | ^~~~~~~~~~ /home/yidds/YiDDS/multithreading_YIDDS/src/realtime_demo/src/multithread_publisher.cpp: In member function ‘void MultiThreadPublisher::monitor_loop()’: /home/yidds/YiDDS/multithreading_YIDDS/src/realtime_demo/src/multithread_publisher.cpp:140:14: warning: variable ‘last_print’ set but not used [-Wunused-but-set-variable] 140 | auto last_print = std::chrono::steady_clock::now(); | ^~~~~~~~~~ In file included from /usr/include/x86_64-linux-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/multithreading_YIDDS/src/realtime_demo/src/../include/include/realtime_utils/realtime_utils.hpp:3, from /home/yidds/YiDDS/multithreading_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/multithreading_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/multithreading_YIDDS/src/realtime_demo/src/multithread_subscriber.cpp:35:12: note: ‘MultiThreadSubscriber::ThreadStats::ThreadStats(const MultiThreadSubscriber::ThreadStats&)’ is implicitly deleted because the default definition would be ill-formed: 35 | struct ThreadStats { | ^~~~~~~~~~~ /home/yidds/YiDDS/multithreading_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/multithreading_YIDDS/src/realtime_demo/src/../include/include/realtime_utils/realtime_utils.hpp:3, from /home/yidds/YiDDS/multithreading_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/multithreading_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/multithreading_YIDDS/src/realtime_demo/src/../include/include/realtime_utils/realtime_utils.hpp:3, from /home/yidds/YiDDS/multithreading_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/multithreading_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/multithreading_YIDDS/src/realtime_demo/src/../include/include/realtime_utils/realtime_utils.hpp:3, from /home/yidds/YiDDS/multithreading_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/multithreading_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/multithreading_YIDDS/src/realtime_demo/src/../include/include/realtime_utils/realtime_utils.hpp:3, from /home/yidds/YiDDS/multithreading_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-linux-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/multithreading_YIDDS/src/realtime_demo/src/../include/include/realtime_utils/realtime_utils.hpp:3, from /home/yidds/YiDDS/multithreading_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/multithreading_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/multithreading_YIDDS/src/realtime_demo/src/multithread_publisher.cpp:35:12: note: ‘MultiThreadPublisher::ThreadStats::ThreadStats(const MultiThreadPublisher::ThreadStats&)’ is implicitly deleted because the default definition would be ill-formed: 35 | struct ThreadStats { | ^~~~~~~~~~~ /home/yidds/YiDDS/multithreading_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/multithreading_YIDDS/src/realtime_demo/src/../include/include/realtime_utils/realtime_utils.hpp:3, from /home/yidds/YiDDS/multithreading_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/multithreading_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/multithreading_YIDDS/src/realtime_demo/src/../include/include/realtime_utils/realtime_utils.hpp:3, from /home/yidds/YiDDS/multithreading_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/multithreading_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/multithreading_YIDDS/src/realtime_demo/src/../include/include/realtime_utils/realtime_utils.hpp:3, from /home/yidds/YiDDS/multithreading_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/multithreading_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/multithreading_YIDDS/src/realtime_demo/src/../include/include/realtime_utils/realtime_utils.hpp:3, from /home/yidds/YiDDS/multithreading_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/multithreading_YIDDS/src/realtime_demo/src/../include/include/realtime_utils/realtime_utils.hpp:3, from /home/yidds/YiDDS/multithreading_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/multithreading_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/multithreading_YIDDS/src/realtime_demo/src/../include/include/realtime_utils/realtime_utils.hpp:3, from /home/yidds/YiDDS/multithreading_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/multithreading_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,
07-31
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