分享一些工作中常用的脚本工具~
1，Bag包的合并
2，CallBack的使用
3，#define 中声明类
4，获取当前进程PID
5，C调用shell返回结果
6，根据指定字符分割字符串
7，统计文本文件时间戳
一，rosBag的合并
代码语言：javascript复制#!/usr/bin/env python
import sys
import argparse
from fnmatch import fnmatchcase
from rosbag import Bag
def main():
parser = argparse.ArgumentParser(description='Merge one or more bag files with the possibilities of filtering topics.')
parser.add_argument('outputbag',
help='output bag file with topics merged')
parser.add_argument('inputbag', nargs=' ',
help='input bag files')
parser.add_argument('-v', '--verbose', action="store_true", default=False,
help='verbose output')
parser.add_argument('-t', '--topics', default="*",
help='string interpreted as a list of topics (wildcards '*' and '?' allowed) to include in the merged bag file')
args = parser.parse_args()
topics = args.topics.split(' ')
total_included_count = 0
total_skipped_count = 0
if (args.verbose):
print("Writing bag file: " args.outputbag)
print("Matching topics against patters: '%s'" % ' '.join(topics))
with Bag(args.outputbag, 'w') as o:
for ifile in args.inputbag:
matchedtopics = []
included_count = 0
skipped_count = 0
if (args.verbose):
print("> Reading bag file: " ifile)
with Bag(ifile, 'r') as ib:
for topic, msg, t in ib:
if any(fnmatchcase(topic, pattern) for pattern in topics):
if not topic in matchedtopics:
matchedtopics.append(topic)
if (args.verbose):
print("Including matched topic '%s'" % topic)
o.write(topic, msg, t)
included_count = 1
else:
skipped_count = 1
total_included_count = included_count
total_skipped_count = skipped_count
if (args.verbose):
print("< Included %d messages and skipped %d" % (included_count, skipped_count))
if (args.verbose):
print("Total: Included %d messages and skipped %d" % (total_included_count, total_skipped_count))
if __name__ == "__main__":
main()
二，CallBack的使用
代码语言：javascript复制using FunACallback = std::function<int(const std::string)>;
using FunBCallback = std::function<double(const int)>;
typedef struct Callbacks
{
FunACallback funacallback;
FunBCallback funbcallback;
}CALLBACKS;
Callbacks m_callbacks;
bool callbackRegister(const Callbacks& callbacks)
{
m_callbacks.funacallback = callbacks.funacallback;
m_callbacks.funbcallback = callbacks.funbcallback;
return true;
}
int FunA(const std::string str_)
{
//可以连接到其他函数接口
std::cout<<"FUNA: "<<str_<<std::endl;
return 1;
}
double FunB(const int str_)
{
std::cout<<"FUNB: "<<str_<<std::endl;
return 1.0;
}
bool Init()
{
Callbacks callbacks;
callbacks.funacallback = std::bind(&FunA,std::placeholders::_1);
callbacks.funbcallback = std::bind(&FunB,std::placeholders::_1);
callbackRegister(callbacks);
return true;
}
bool Process()
{
m_callbacks.funacallback("lililili");
m_callbacks.funbcallback(1);
}
int main()
{
Init();
Process();
}三，#define 中声明类
代码语言：javascript复制class Base {
public:
virtual void f() {
std::cout << "this is Base";
};
};
class A : public Base {
public:
void f() {
std::cout << "this is A";
}
};
typedef std::shared_ptr<Base> (*CreatefeedFunction)();
typedef std::unordered_map<std::string, CreatefeedFunction> feedMap;
feedMap g_feed_map;
#define REGISTER_DATAFEED_CLASS(feed_class)
namespace {
std::shared_ptr<Base> Creator_##feed_class() {
return std::shared_ptr<Base>(new feed_class);
}
class __Registerer_##feed_class {
public:
__Registerer_##feed_class() {
g_feed_map[#feed_class] = &Creator_##feed_class;
}
};
__Registerer_##feed_class g_registerer_##feed_class;
} // namespace
REGISTER_DATAFEED_CLASS(A); // 函数体内部不能进行函数的定义
int main()
{
std::shared_ptr<Base> p = g_feed_map["A"]();
p->f();
return 0;
}四，通过名字获取当前进程PID
代码语言：javascript复制pid_t getProcessPidByName(const char *proc_name)
{
FILE *fp;
char buf[100];
char cmd[200] = {' '};
pid_t pid = -1;
sprintf(cmd, "pidof %s", proc_name);
if((fp = popen(cmd, "r")) != NULL)
{
if(fgets(buf, 255, fp) != NULL)
{
pid = atoi(buf);
}
}
printf("pid = %d n", pid);
pclose(fp);
return pid;
}
int main(int argc, char** argv)
{
if(argc != 2)
{
printf("Invalid input! n");
return -1;
}
char* process_name = argv[1];
pid_t process_pid = getProcessPidByName((const char*)process_name);
return 0;
}五，C 调用shell指令并返回结果
代码语言：javascript复制static bool executeCmd(const char* cmd, char* pReturns)
{
FILE *ptr;
char command[1024] = {0};
snprintf(command, sizeof(command), cmd);
ptr = popen(command, "r");
std::string work_path = getcwd(NULL, 0);
std::cout<<"current patch is "<<work_path<<"command: "<<command<<std::endl;
if(NULL != ptr)
{
if(NULL != pReturns)
{
int rv = -1;
char result_buf[1024] = {0};
if((rv = std::fread(result_buf, 1, sizeof(result_buf), ptr)) < 0)
{
return false;
}
else
{
strcat(pReturns, result_buf);
}
std::cout<<"result_buf is "<<pReturns<<std::endl;
}
int rc = pclose(ptr);
}
else
{
return false;
}
return true;
}
int main()
{
char ans[1024] = {0};
std::string cmd = "ls";
if(!executeCmd(cmd.c_str(), ans))
{
return false;
}
}六，根据指定字符分割字符串
代码语言：javascript复制void spiltStr(std::string str,const std::string & split,std::vector<std::string>&strlist)
{
strlist.clear();
if(str=="")
return;
std::string strs=str split;
size_t pos=strs.find(split);
int steps=split.size();
while(pos!=strs.npos)
{
std::string temp=strs.substr(0,pos);
strlist.push_back(temp);
strs=strs.substr(pos steps,strs.size());
pos=strs.find(split);
}
}
int main()
{
std::string conf_path = "$(arg config_file_path)/0,$(arg config_file_path)/1,$(arg config_file_path)/2,$(arg config_file_path)/3,$(arg config_file_path)/fisheye";
std::vector<std::string> str_1_1;
std::vector<std::string> str_2_2;
spiltStr(conf_path,",",str_1_1);
std::cout<<"size: "<<conf_path.size()<<std::endl;
for (auto i: str_1_1)
{
std::cout<<"str_1: "<<i<<std::endl;
}
}七，脚本统计文本文件时间戳
代码语言：javascript复制import codecs
from numpy import *
import matplotlib.pyplot as plt
import numpy as np
f = codecs.open('track.txt', mode='r', encoding='utf-8')
line = f.readline()
time_detect = []
while line:
time_d = line.split('cost time = ')[1]
time_d = time_d.split(' ')[0]
# print(time_d)
# print(type(time_d))
time_detect.append(float(time_d))
line = f.readline()
f.close()
time_detect = sorted(time_detect)
max_time_t4_t3 = max(time_detect)
min_time_t4_t3 = min(time_detect)
mean_time_t4_t3 = mean(time_detect)
len_time_t4_t3 = len(time_detect)
tp_99_time_t4_t3 = time_detect[int(len_time_t4_t3 * 0.99)]
tp_50_time_t4_t3 = time_detect[int(len_time_t4_t3 * 0.5)]
print("len: ",len_time_t4_t3)
print("max: ",max_time_t4_t3)
print("min: ",min_time_t4_t3)
print("mean: ",mean_time_t4_t3)
print("tp_99: ",tp_99_time_t4_t3)
print("tp_50: ",tp_50_time_t4_t3)
