diff --git a/c++/devC/devC2/DigtalWork.c b/c++/devC/devC2/DigtalWork.c new file mode 100644 index 0000000..0f143cf --- /dev/null +++ b/c++/devC/devC2/DigtalWork.c @@ -0,0 +1,45 @@ +//#include "DigtalWork.h" +// +//bool init3() { +// if (websocket_connect(&websocket,"ws://172.16.1.131:10088/cxx") < 0) { +// printf("WebSocket连接失败"); +// return false; +// } +// printf("websocket连接成功"); +// createPthread(); +// initRobot(); +// return true; +//} +// +//void initHuman() { +// +// char sex; +// printf("初始化,输入数字人性别Male/Female：\n"); +// scanf("%s", &sex); +// if(sex == ""){ +// strcpy(sex, "male"); +// } +// +// printf("操作结果:"); +//} +// +//void setName() { +// char name; +// printf("设置数字人名字：\n"); +// scanf("%s", &name); +//} +// +//void setAge() { +// +//} +// +//void getHandAction() { +// +//} +// +//void setHandAction() { +// +//} +// +// + diff --git a/c++/devC/devC2/DigtalWork.h b/c++/devC/devC2/DigtalWork.h new file mode 100644 index 0000000..675fa34 --- /dev/null +++ b/c++/devC/devC2/DigtalWork.h @@ -0,0 +1,19 @@ +//#ifndef _ROBOTWORK_H_ +//#define _ROBOTWORK_H_ +// +//#include "WebsocketConfig.h" +// +// typedef struct { +// +// }Digtal; +// +// bool init3(); /*初始化连接*/ +// void initHuman(); +// void setName(); +// void setAge(); +// void getHandAction(); +// void setHandAction(); +// Digtal digtal; +// int number3 = 0; /*编号*/ +// int event_id3 = 0; +//#endif diff --git a/c++/devC/devC2/DigtalWork.o b/c++/devC/devC2/DigtalWork.o new file mode 100644 index 0000000..4f84007 Binary files /dev/null and b/c++/devC/devC2/DigtalWork.o differ diff --git a/c++/devC/devC2/Makefile.win b/c++/devC/devC2/Makefile.win new file mode 100644 index 0000000..8e3eeee --- /dev/null +++ b/c++/devC/devC2/Makefile.win @@ -0,0 +1,43 @@ +# Project: Project0 +# Makefile created by Dev-C++ 5.11 + +CPP = g++.exe +CC = gcc.exe +WINDRES = windres.exe +OBJ = Transcoding.o WebsocketClient.o UavWork.o RobotWork.o WebsocketConfig.o DigtalWork.o +LINKOBJ = Transcoding.o WebsocketClient.o UavWork.o RobotWork.o WebsocketConfig.o DigtalWork.o +LIBS = -L"F:/devCpp/MinGW64/x86_64-w64-mingw32/lib32" -static-libgcc -lwsock32 -Ldll -lws2_32 -lwsock32 -lmswsock -m32 -pg +INCS = -I"F:/devCpp/MinGW64/include" -I"F:/devCpp/MinGW64/x86_64-w64-mingw32/include" -I"F:/devCpp/MinGW64/lib/gcc/x86_64-w64-mingw32/4.9.2/include" +CXXINCS = -I"F:/devCpp/MinGW64/include" -I"F:/devCpp/MinGW64/x86_64-w64-mingw32/include" -I"F:/devCpp/MinGW64/lib/gcc/x86_64-w64-mingw32/4.9.2/include" -I"F:/devCpp/MinGW64/lib/gcc/x86_64-w64-mingw32/4.9.2/include/c++" +BIN = Project0.exe +CXXFLAGS = $(CXXINCS) -m32 -pg +CFLAGS = $(INCS) -m32 -pg +RM = rm.exe -f + +.PHONY: all all-before all-after clean clean-custom + +all: all-before $(BIN) all-after + +clean: clean-custom + ${RM} $(OBJ) $(BIN) + +$(BIN): $(OBJ) + $(CC) $(LINKOBJ) -o $(BIN) $(LIBS) + +Transcoding.o: Transcoding.c + $(CC) -c Transcoding.c -o Transcoding.o $(CFLAGS) + +WebsocketClient.o: WebsocketClient.c + $(CC) -c WebsocketClient.c -o WebsocketClient.o $(CFLAGS) + +UavWork.o: UavWork.c + $(CC) -c UavWork.c -o UavWork.o $(CFLAGS) + +RobotWork.o: RobotWork.c + $(CC) -c RobotWork.c -o RobotWork.o $(CFLAGS) + +WebsocketConfig.o: WebsocketConfig.c + $(CC) -c WebsocketConfig.c -o WebsocketConfig.o $(CFLAGS) + +DigtalWork.o: DigtalWork.c + $(CC) -c DigtalWork.c -o DigtalWork.o $(CFLAGS) diff --git a/c++/devC/devC2/Project0.dev b/c++/devC/devC2/Project0.dev new file mode 100644 index 0000000..1994412 --- /dev/null +++ b/c++/devC/devC2/Project0.dev @@ -0,0 +1,182 @@ +[Project] +FileName=Project0.dev +Name=Project0 +Type=1 +Ver=2 +ObjFiles= +Includes= +Libs= +PrivateResource= +ResourceIncludes= +MakeIncludes= +Compiler= +CppCompiler= +Linker= +IsCpp=0 +Icon= +ExeOutput= +ObjectOutput= +LogOutput= +LogOutputEnabled=0 +OverrideOutput=0 +OverrideOutputName= +HostApplication= +UseCustomMakefile=0 +CustomMakefile= +CommandLine= +Folders=Common,Common/Headers,Common/Sources,DigtalHuman,DigtalHuman/Headers,DigtalHuman/Sources,Robot,Robot/Headers,Robot/Sources,Uav,Uav/Headers,Uav/Sources +IncludeVersionInfo=0 +SupportXPThemes=0 +CompilerSet=3 +CompilerSettings=0000000100000000100000000 +UnitCount=13 + +[VersionInfo] +Major=1 +Minor=0 +Release=0 +Build=0 +LanguageID=1033 +CharsetID=1252 +CompanyName= +FileVersion= +FileDescription=Developed using the Dev-C++ IDE +InternalName= +LegalCopyright= +LegalTrademarks= +OriginalFilename= +ProductName= +ProductVersion= +AutoIncBuildNr=0 +SyncProduct=1 + +[Unit2] +FileName=Transcoding.h +CompileCpp=0 +Folder=Common/Headers +Compile=1 +Link=1 +Priority=1000 +OverrideBuildCmd=0 +BuildCmd= + +[Unit3] +FileName=WebsocketClient.c +CompileCpp=0 +Folder=Common/Sources +Compile=1 +Link=1 +Priority=1000 +OverrideBuildCmd=0 +BuildCmd= + +[Unit4] +FileName=WebsocketClient.h +CompileCpp=0 +Folder=Common/Headers +Compile=1 +Link=1 +Priority=1000 +OverrideBuildCmd=0 +BuildCmd= + +[Unit5] +FileName=UavWork.h +CompileCpp=0 +Folder=Uav/Headers +Compile=1 +Link=1 +Priority=1000 +OverrideBuildCmd=0 +BuildCmd= + +[Unit6] +FileName=UavWork.c +CompileCpp=0 +Folder=Uav/Sources +Compile=1 +Link=1 +Priority=1000 +OverrideBuildCmd=0 +BuildCmd= + +[Unit7] +FileName=RobotWork.h +CompileCpp=0 +Folder=Robot/Headers +Compile=1 +Link=1 +Priority=1000 +OverrideBuildCmd=0 +BuildCmd= + +[Unit1] +FileName=Transcoding.c +CompileCpp=0 +Folder=Common/Sources +Compile=1 +Link=1 +Priority=1000 +OverrideBuildCmd=0 +BuildCmd= + +[Unit8] +FileName=RobotWork.c +CompileCpp=0 +Folder=Robot/Sources +Compile=1 +Link=1 +Priority=1000 +OverrideBuildCmd=0 +BuildCmd= + +[Unit9] +FileName=WebsocketConfig.c +CompileCpp=0 +Folder=Common/Sources +Compile=1 +Link=1 +Priority=1000 +OverrideBuildCmd=0 +BuildCmd= + +[Unit10] +FileName=WebsocketConfig.h +CompileCpp=0 +Folder=Common/Headers +Compile=1 +Link=1 +Priority=1000 +OverrideBuildCmd=0 +BuildCmd= + +[Unit11] +FileName=WebsocketModel.h +CompileCpp=0 +Folder=Common/Headers +Compile=1 +Link=1 +Priority=1000 +OverrideBuildCmd=0 +BuildCmd= + +[Unit12] +FileName=DigtalWork.h +CompileCpp=0 +Folder=DigtalHuman/Headers +Compile=1 +Link=1 +Priority=1000 +OverrideBuildCmd=0 +BuildCmd= + +[Unit13] +FileName=DigtalWork.c +CompileCpp=0 +Folder=DigtalHuman/Sources +Compile=1 +Link=1 +Priority=1000 +OverrideBuildCmd=0 +BuildCmd= + diff --git a/c++/devC/devC2/Project0.exe b/c++/devC/devC2/Project0.exe new file mode 100644 index 0000000..a40bbb5 Binary files /dev/null and b/c++/devC/devC2/Project0.exe differ diff --git a/c++/devC/devC2/Project0.layout b/c++/devC/devC2/Project0.layout new file mode 100644 index 0000000..8e19c49 --- /dev/null +++ b/c++/devC/devC2/Project0.layout @@ -0,0 +1,68 @@ +[Editor_0] +CursorCol=17 +CursorRow=80 +TopLine=1 +LeftChar=1 +[Editors] +Order=5,7,8,6 +Focused=5 +[Editor_1] +CursorCol=1 +CursorRow=1 +TopLine=1 +LeftChar=1 +[Editor_2] +CursorCol=35 +CursorRow=8 +TopLine=1 +LeftChar=1 +[Editor_3] +CursorCol=13 +CursorRow=6 +TopLine=1 +LeftChar=1 +[Editor_4] +CursorCol=18 +CursorRow=16 +TopLine=2 +LeftChar=1 +[Editor_5] +CursorCol=18 +CursorRow=182 +TopLine=160 +LeftChar=1 +[Editor_6] +CursorCol=8 +CursorRow=26 +TopLine=11 +LeftChar=1 +[Editor_7] +CursorCol=32 +CursorRow=18 +TopLine=10 +LeftChar=1 +[Editor_9] +CursorCol=14 +CursorRow=12 +TopLine=1 +LeftChar=1 +[Editor_8] +CursorCol=2 +CursorRow=148 +TopLine=117 +LeftChar=1 +[Editor_10] +CursorCol=1 +CursorRow=1 +TopLine=1 +LeftChar=1 +[Editor_12] +CursorCol=16 +CursorRow=11 +TopLine=1 +LeftChar=1 +[Editor_11] +CursorCol=21 +CursorRow=1 +TopLine=1 +LeftChar=1 diff --git a/c++/devC/devC2/RobotWork.c b/c++/devC/devC2/RobotWork.c new file mode 100644 index 0000000..32dfbe5 --- /dev/null +++ b/c++/devC/devC2/RobotWork.c @@ -0,0 +1,202 @@ +#include "RobotWork.h" + +bool init2() { + if (websocket_connect(&websocket,"ws://172.16.1.131:10088/cxx") < 0) { + printf("WebSocket连接失败"); + return false; + } + printf("websocket连接成功"); + createPthread(); + initRobot(); + return true; +} + +//初始化机器人场景 +void initRobot() { + event_id2 = event_id2 + 1; + robot.event_id = 1; + strcpy(robot.type, "other"); + strcpy(robot.commond, "init_scene"); + char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长 + sprintf(json_str, "{\"event_id\":\"%i\",\"type\":%s,\"commond\":%s}" + , robot.event_id, robot.type, robot.commond); + sendMessage(json_str); +} + +void initPosition() { + // 为结构体成员变量赋值 + strcpy(robot.type, "jqr"); + strcpy(robot.commond, "init_position"); + robot.rotate = 0; + number2 = number2 + 1; + event_id2 = event_id2 + 1; + robot.number = number2; + robot.event_id = event_id2; + char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长 + sprintf(json_str, "{\"number\":\"%i\",\"event_id\":\"%i\",\"point\":\"%s\",\"type\":%s,\"commond\":%s}" + , robot.number,robot.event_id,"[0.0,0.0]", robot.type, robot.commond); + sendMessage(json_str); +} + +void setName() { + char name; + printf("输入机器人名称:\n"); + scanf("%s", &name); + strcpy(robot.type, "jqr"); + strcpy(robot.commond, "set_name"); + robot.name = name; + number2 = number2 + 1; + event_id2 = event_id2 + 1; + robot.number = number2; + robot.event_id = event_id2; + char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长 + sprintf(json_str, "{\"number\":\"%i\",\"event_id\":\"%i\",\"name\":\"%s\",\"type\":%s,\"commond\":%s}" + , robot.number,robot.event_id,name, robot.type, robot.commond); + sendMessage(json_str); +} + +void setColor() { + char color[8]; + printf("设置机器人颜色:"); + scanf("%s", &color); + if(color == ""){ + strcpy(color, "#FFFFFF"); + } + strcpy(robot.type, "jqr"); + strcpy(robot.commond, "set_color"); + strcpy(robot.color, color); + number2 = number2 + 1; + event_id2 = event_id2 + 1; + robot.number = number2; + robot.event_id = event_id2; + char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长 + sprintf(json_str, "{\"number\":\"%i\",\"event_id\":\"%i\",\"color\":\"%s\",\"type\":\"%s\",\"commond\":\"%s\"}" + , robot.number,robot.event_id,color, robot.type, robot.commond); + sendMessage(json_str); +} + +void servoMotorControl() { + int servoId; + printf("设置舵机id:"); + scanf("%i", &servoId); + + int value; + printf("设置舵机值:"); + scanf("%i", &value); + + strcpy(robot.type, "jqr"); + strcpy(robot.commond, "servo_motor_control"); + robot.servoId = servoId; + robot.value = value; + number2 = number2 + 1; + event_id2 = event_id2 + 1; + robot.number = number2; + robot.event_id = event_id2; + char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长 + sprintf(json_str, "{\"number\":\"%i\",\"event_id\":\"%i\",\"servo_id\":\"%i\",\"value\":\"%i\",\"type\":\"%s\",\"commond\":\"%s\"}" + , robot.number,robot.event_id,robot.servoId,robot.value, robot.type, robot.commond); + sendMessage(json_str); +} + +void getActionLab() { + strcpy(robot.type, "jqr"); + strcpy(robot.commond, "get_action_lab"); + number2 = number2 + 1; + event_id2 = event_id2 + 1; + robot.number = number2; + robot.event_id = event_id2; + char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长 + sprintf(json_str, "{\"number\":\"%i\",\"event_id\":\"%i\",\"type\":\"%s\",\"commond\":\"%s\"}" + , robot.number,robot.event_id,robot.type, robot.commond); + sendMessage(json_str); +} + +void playAction() { + char action[20]; + printf("设置动作名称:"); + scanf("%s", &action); + + float duration; + printf("设置持续时间:"); + scanf("%f", &duration); + + float loopTimes; + printf("设置循环次数:"); + scanf("%f", &loopTimes); + + strcpy(robot.type, "jqr"); + strcpy(robot.commond, "play_action"); + number2 = number2 + 1; + event_id2 = event_id2 + 1; + robot.number = number2; + robot.event_id = event_id2; + strcpy(robot.action, action); + robot.duration = duration; + robot.loopTimes = loopTimes; + char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长 + sprintf(json_str, "{\"number\":\"%i\",\"event_id\":\"%i\",\"type\":\"%s\",\"commond\":\"%s\",\"action\":\"%s\",\"duration\":%f,\"loopTimes\":%f}" + , robot.number,robot.event_id,robot.type, robot.commond,robot.action,robot.duration,robot.loopTimes); + sendMessage(json_str); +} + +void getSpeechText() { + printf("设置动作名称:"); +} + +void speak() { + char txt[20]; + printf("请输入文本内容:"); + scanf("%s", &txt); + number2 = number2 + 1; + event_id2 = event_id2 + 1; + strcpy(robot.type, "jqr"); + strcpy(robot.commond, "speak"); + strcpy(robot.txt, txt); + strcpy(robot.tone, "机器人"); + robot.speed = 0; + robot.save = false; + strcpy(robot.fileName, ""); + robot.number = number2; + robot.event_id = event_id2; + char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长 + sprintf(json_str, "{\"number\":\"%i\",\"event_id\":\"%i\",\"type\":\"%s\",\"commond\":\"%s\",\"txt\":\"%s\",\"tone\":%s,\"speed\":%i,\"save\":%s}" + , robot.number,robot.event_id,robot.type, robot.commond,robot.txt,robot.tone,robot.speed,robot.save); + sendMessage(json_str); +} + +void defineAction() { + printf("打开动作编辑面板...\n"); + printf("动作编辑面板："); +} + +void openColorDetect() { + printf("打开图像识别..."); + number2 = number2 + 1; + event_id2 = event_id2 + 1; + strcpy(robot.type, "jqr"); + strcpy(robot.commond, "openColorDetect"); + robot.number = number2; + robot.event_id = event_id2; + char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长 + sprintf(json_str, "{\"number\":\"%i\",\"event_id\":\"%i\",\"type\":\"%s\",\"commond\":\"%s\"}" + , robot.number,robot.event_id,robot.type, robot.commond); + sendMessage(json_str); +} + +void stopColorDetect() { + printf("停止图像识别..."); + number2 = number2 + 1; + event_id2 = event_id2 + 1; + strcpy(robot.type, "jqr"); + strcpy(robot.commond, "stopColorDetect"); + robot.number = number2; + robot.event_id = event_id2; + char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长 + sprintf(json_str, "{\"number\":\"%i\",\"event_id\":\"%i\",\"type\":\"%s\",\"commond\":\"%s\"}" + , robot.number,robot.event_id,robot.type, robot.commond); + sendMessage(json_str); +} + + + + diff --git a/c++/devC/devC2/RobotWork.h b/c++/devC/devC2/RobotWork.h new file mode 100644 index 0000000..5ea6b67 --- /dev/null +++ b/c++/devC/devC2/RobotWork.h @@ -0,0 +1,45 @@ +#ifndef _ROBOTWORK_H_ +#define _ROBOTWORK_H_ + +#include "WebsocketConfig.h" + + typedef struct { + int event_id; + char name; + int number; + char breastPieceInfo; + char color[8]; + char type[10]; + char commond[20]; + float point[2]; + float rotate; + int servoId; + int value; + char tone[10]; + char action[20]; + float duration; + float loopTimes; + int speed; + bool save; + char fileName[10]; + char txt[20]; + }Robot; + bool init2(); /*初始化连接*/ + void initRobot(); + void initPosition(); + void setName(); + void setColor(); + void servoMotorControl(); + void getActionLab(); + void playAction(); + void getSpeechText(); + void speak(); + void defineAction(); + void openColorDetect(); + void stopColorDetect(); + Robot robot; + int number2 = 0; /*编号*/ + int event_id2 = 0; + +#endif + diff --git a/c++/devC/devC2/RobotWork.o b/c++/devC/devC2/RobotWork.o new file mode 100644 index 0000000..8030d33 Binary files /dev/null and b/c++/devC/devC2/RobotWork.o differ diff --git a/c++/devC/devC2/Transcoding.c b/c++/devC/devC2/Transcoding.c new file mode 100644 index 0000000..1123209 --- /dev/null +++ b/c++/devC/devC2/Transcoding.c @@ -0,0 +1,84 @@ +#include "Transcoding.h" + + +wchar_t * ANSIToUnicode(const char* str) { + int textlen; + wchar_t * result; + textlen = MultiByteToWideChar( CP_ACP, 0, str,-1, NULL,0 ); + result = (wchar_t *)malloc((textlen+1)*sizeof(wchar_t)); + memset(result,0,(textlen+1)*sizeof(wchar_t)); + MultiByteToWideChar(CP_ACP, 0,str,-1,(LPWSTR)result,textlen ); + return result; +} + +char * UnicodeToANSI( const wchar_t* str ) +{ + char* result; + int textlen; + textlen = WideCharToMultiByte( CP_ACP, 0, str, -1, NULL, 0, NULL, NULL ); + result =(char *)malloc((textlen+1)*sizeof(char)); + memset( result, 0, sizeof(char) * ( textlen + 1 ) ); + WideCharToMultiByte( CP_ACP, 0, str, -1, result, textlen, NULL, NULL ); + return result; +} + +wchar_t * UTF8ToUnicode( const char* str ) +{ + int textlen; + wchar_t * result; + textlen = MultiByteToWideChar( CP_UTF8, 0, str,-1, NULL,0 ); + result = (wchar_t *)malloc((textlen+1)*sizeof(wchar_t)); + memset(result,0,(textlen+1)*sizeof(wchar_t)); + MultiByteToWideChar(CP_UTF8, 0,str,-1,(LPWSTR)result,textlen ); + return result; +} + +char * UnicodeToUTF8( const wchar_t* str ) +{ + char* result; + int textlen; + textlen = WideCharToMultiByte( CP_UTF8, 0, str, -1, NULL, 0, NULL, NULL ); + result =(char *)malloc((textlen+1)*sizeof(char)); + memset(result, 0, sizeof(char) * ( textlen + 1 ) ); + WideCharToMultiByte( CP_UTF8, 0, str, -1, result, textlen, NULL, NULL ); + return result; +} + +/*??????????????Unicode - ANSI*/ +char* w2m(const wchar_t* wcs) +{ + int len; + char* buf; + len =wcstombs(NULL,wcs,0); + if (len == 0) + return NULL; + buf = (char *)malloc(sizeof(char)*(len+1)); + memset(buf, 0, sizeof(char) *(len+1)); + len =wcstombs(buf,wcs,len+1); + return buf; +} + +/*??????????????ANSI - Unicode*/ +wchar_t* m2w(const char* mbs) +{ + int len; + wchar_t* buf; + len =mbstowcs(NULL,mbs,0); + if (len == 0) + return NULL; + buf = (wchar_t *)malloc(sizeof(wchar_t)*(len+1)); + memset(buf, 0, sizeof(wchar_t) *(len+1)); + len =mbstowcs(buf,mbs,len+1); + return buf; +} + +char* ANSIToUTF8(const char* str) +{ + return UnicodeToUTF8(ANSIToUnicode(str)); +} + +char* UTF8ToANSI(const char* str) +{ + return UnicodeToANSI(UTF8ToUnicode(str)); +} + diff --git a/c++/devC/devC2/Transcoding.h b/c++/devC/devC2/Transcoding.h new file mode 100644 index 0000000..dbd9d88 --- /dev/null +++ b/c++/devC/devC2/Transcoding.h @@ -0,0 +1,26 @@ +#ifndef _TRANSCODING_H_ +#define _TRANSCODING_H_ + +#include +#include +#include +#define BUF_SIZE 1024 + + wchar_t * ANSIToUnicode(const char* str); + + char * UnicodeToANSI( const wchar_t* str ); + + wchar_t * UTF8ToUnicode( const char* str ); + + char * UnicodeToUTF8( const wchar_t* str ); + + char* w2m(const wchar_t* wcs); + + wchar_t* m2w(const char* mbs); + + char* ANSIToUTF8(const char* str); + + char* UTF8ToANSI(const char* str); + +#endif + diff --git a/c++/devC/devC2/Transcoding.o b/c++/devC/devC2/Transcoding.o new file mode 100644 index 0000000..67ae2d3 Binary files /dev/null and b/c++/devC/devC2/Transcoding.o differ diff --git a/c++/devC/devC2/UavWork.c b/c++/devC/devC2/UavWork.c new file mode 100644 index 0000000..184a7f2 --- /dev/null +++ b/c++/devC/devC2/UavWork.c @@ -0,0 +1,353 @@ +#include "UavWork.h" + +void uavOperate(int choose) { + switch(choose){ + case 1: init_position(); break; + case 2: set_name(); break; + case 3: set_color(); break; + case 4: start_engine(); break; + case 5: shut_down_engine(); break; + case 6: set_rotor_power(); break; + case 7: open_lighter(); break; + case 8: close_lighter(); break; + case 9: get_current_height(); break; + case 10: get_current_attitude_angle(); break; + case 11: get_current_distance(); break; + case 12: get_current_distance(); break; + case 13: get_current_distance(); break; + case 14: get_current_distance(); break; + case 15: get_current_distance(); break; + case 16: get_current_distance(); break; + } +} + +int getChoose() { + int num; + printf("请选择需要操作：----------------------\n"); + printf("0.退出操作\n"); + printf("1.初始化无人机坐标\n"); + printf("2.设置无人机名称\n"); + printf("3.设置无人机颜色\n"); + printf("4.启动引擎\n"); + printf("5.关闭引擎\n"); + printf("6.设置无人机各旋翼输出\n"); + printf("7.打开无人机灯光\n"); + printf("8.关闭无人机灯光\n"); + printf("9.获取无人机当前高度\n"); + printf("10.获取无人机当前姿态角\n"); + printf("11.获取无人机与返航点的水平方向距离\n"); + printf("12.获取无人机的水平方向速度\n"); + printf("13.获取无人机的垂直速度\n"); + printf("14.打开高清图传\n"); + printf("15.关闭高清图传\n"); + printf("16.以给定速度朝方向飞行多长时间\n"); + printf("17.在规定时间内飞至指定位置\n"); + printf("18.在固定速度的情况下飞至指定位置\n"); + printf("19.无人机悬停\n"); + printf("20.打开无人机飞行轨迹\n"); + printf("输入操作项:\n"); + scanf("%d", &num); + printf("你输入的整数是： %d\n", num); + createPthread(); + uavOperate(num); +} + +bool init() { + if (websocket_connect(&websocket,"ws://127.0.0.1:6003") < 0) { + printf("WebSocket连接失败"); + return false; + } + printf("websocket连接成功"); + createPthread(); + initUav(); + return true; +} + +//初始化无人机场景 +void initUav() { + event_id = event_id + 1; + uav.event_id = 1; + strcpy(uav.type, "other"); + strcpy(uav.commond, "init_scene"); + char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长 + sprintf(json_str, "{\"event_id\":%i,\"type\":\"%s\",\"commond\":\"%s\"}" + , uav.event_id, uav.type, uav.commond); + sendMessage(json_str); +} + +//初始化返航点 +void init_position() { + // 为结构体成员变量赋值 + strcpy(uav.type, "wrj"); + strcpy(uav.commond, "init_position"); + number = number + 1; + event_id = event_id + 1; + uav.number = number; + uav.event_id = event_id; + char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长 + sprintf(json_str, "{\"number\":%i,\"event_id\":%i,\"pos\":%s,\"type\":\"%s\",\"commond\":\"%s\"}" + , uav.number,uav.event_id,"[0,0]", uav.type, uav.commond); + sendMessage(json_str); +}; + +void set_name() { + char name[100]; + printf("输入无人机名称:\n"); + scanf("%s", &name); + strcpy(uav.type, "wrj"); + strcpy(uav.commond, "set_name"); + strcpy(uav.name, name); + number = number + 1; + event_id = event_id + 1; + uav.number = number; + uav.event_id = event_id; + char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长 + sprintf(json_str, "{\"number\":%i,\"event_id\":%i,\"name\":\"%s\",\"type\":\"%s\",\"commond\":\"%s\"}" + , uav.number,uav.event_id,name, uav.type, uav.commond); + sendMessage(json_str); +} + +void set_color() { + char color_1[8]; + printf("无人机模型区域1颜色(默认 #FFFFFF)："); + scanf("%s", &color_1); + if(color_1 == ""){ + strcpy(color_1, "#FFFFFF"); + } + char color_2[8]; + printf("无人机模型区域2颜色(默认 #000000)："); + scanf("%s", &color_2); + if(color_2 == ""){ + strcpy(color_2, "#000000"); + } + strcpy(uav.type, "wrj"); + strcpy(uav.commond, "set_color"); + strcpy(uav.color_1, color_1); + strcpy(uav.color_2, color_2); + number = number + 1; + event_id = event_id + 1; + uav.number = number; + uav.event_id = event_id; + char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长 + sprintf(json_str, "{\"number\":%i,\"event_id\":%i,\"color_1\":\"%s\",\"color_2\":\"%s\",\"type\":\"%s\",\"commond\":\"%s\"}" + , uav.number,uav.event_id,color_1,color_2, uav.type, uav.commond); + sendMessage(json_str); +} + +void start_engine() { + strcpy(uav.type, "wrj"); + strcpy(uav.commond, "start_engine"); + number = number + 1; + event_id = event_id + 1; + uav.number = number; + uav.event_id = event_id; + char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长 + sprintf(json_str, "{\"number\":%i,\"event_id\":%i,\"type\":\"%s\",\"commond\":\"%s\"}" + , uav.number,uav.event_id, uav.type, uav.commond); + sendMessage(json_str); +} + +void shut_down_engine() { + strcpy(uav.type, "wrj"); + strcpy(uav.commond, "shut_down_engine"); + number = number + 1; + event_id = event_id + 1; + uav.number = number; + uav.event_id = event_id; + char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长 + sprintf(json_str, "{\"number\":%i,\"event_id\":%i,\"type\":\"%s\",\"commond\":\"%s\"}" + , uav.number,uav.event_id, uav.type, uav.commond); + sendMessage(json_str); +} + +void set_rotor_power() { + char rotor[20]; + memset(rotor, 0, sizeof(rotor)); + printf("输入旋翼输出参数(四个参数以,分割 例如：1,2,3,4):"); + scanf("%s", &rotor); +// char *token = strtok(rotor, ","); // 使用逗号作为分隔符，将字符串分割成子字符串 +// int i = 0; +// while (token != NULL) { +// inParams2.rotor_power[i] = atoi(token); // 将子字符串转换为整数并插入到整数数组中 +// token = strtok(NULL, ","); // 继续分割剩余的子字符串 +// i++; +// } + strcpy(uav.type, "wrj"); + strcpy(uav.commond, "set_rotor_power"); + number = number + 1; + event_id = event_id + 1; + uav.number = number; + uav.event_id = event_id; + char data[30]; + sprintf(data,"{\"power\":[%s]}",rotor); + char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长 + sprintf(json_str, "{\"number\":%i,\"event_id\":%i,\"parameters\":%s,\"type\":\"%s\",\"commond\":\"%s\"}" + , uav.number,uav.event_id,data, uav.type, uav.commond); + sendMessage(json_str); +} + +void open_lighter() { + char color[20]; + printf("设置灯光颜色："); + scanf("%s", &color); + strcpy(inParams.color, color); + inParams.intensity = 1; + inParams.halo = 1; + strcpy(uav.type, "wrj"); + strcpy(uav.commond, "open_lighter"); + number = number + 1; + event_id = event_id + 1; + uav.number = number; + uav.event_id = event_id; + char data[30]; + sprintf(data,"{\"intensity\":%f,\"color\":\"%s\",\"halo\":%f}",inParams.intensity,inParams.color,inParams.halo); + char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长 + sprintf(json_str, "{\"type\":\"%s\",\"commond\":\"%s\",\"number\":%i,\"parameters\":%s,\"event_id\":%i}" + , uav.type,uav.commond,uav.number, data, uav.event_id); + sendMessage(json_str); +} + +void close_lighter() { + strcpy(uav.type, "wrj"); + strcpy(uav.commond, "close_lighter"); + number = number + 1; + event_id = event_id + 1; + uav.number = number; + uav.event_id = event_id; + char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长 + sprintf(json_str, "{\"type\":\"%s\",\"commond\":\"%s\",\"number\":%i,\"event_id\":%i}" + , uav.type, uav.commond, uav.number, uav.event_id); + sendMessage(json_str); +} + +void get_current_height() { + strcpy(uav.type, "wrj"); + strcpy(uav.commond, "get_current_height"); + number = number + 1; + event_id = event_id + 1; + uav.number = number; + uav.event_id = event_id; + char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长 + sprintf(json_str, "{\"type\":\"%s\",\"commond\":\"%s\",\"number\":%i,\"event_id\":%i}" + , uav.type, uav.commond, uav.number, uav.event_id); + sendMessage(json_str); +} + +void get_current_attitude_angle() { + strcpy(uav.type, "wrj"); + strcpy(uav.commond, "get_current_attitude_angle"); + number = number + 1; + event_id = event_id + 1; + uav.number = number; + uav.event_id = event_id; + char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长 + sprintf(json_str, "{\"type\":\"%s\",\"commond\":\"%s\",\"number\":%i,\"event_id\":%i}" + , uav.type, uav.commond, uav.number, uav.event_id); + sendMessage(json_str); +} + +void get_current_distance() { + strcpy(uav.type, "wrj"); + strcpy(uav.commond, "get_current_distance"); + number = number + 1; + event_id = event_id + 1; + uav.number = number; + uav.event_id = event_id; + char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长 + sprintf(json_str, "{\"type\":\"%s\",\"commond\":\"%s\",\"number\":%i,\"event_id\":%i}" + , uav.type, uav.commond, uav.number, uav.event_id); + sendMessage(json_str); +} + +void get_current_horizontal_speed() { + strcpy(uav.type, "wrj"); + strcpy(uav.commond, "get_current_horizontal_speed"); + number = number + 1; + event_id = event_id + 1; + uav.number = number; + uav.event_id = event_id; + char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长 + sprintf(json_str, "{\"type\":\"%s\",\"commond\":\"%s\",\"number\":%i,\"event_id\":%i}" + , uav.type, uav.commond, uav.number, uav.event_id); + sendMessage(json_str); +} + +void get_current_vertical_speed() { + strcpy(uav.type, "wrj"); + strcpy(uav.commond, "get_current_vertical_speed"); + number = number + 1; + event_id = event_id + 1; + uav.number = number; + uav.event_id = event_id; + char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长 + sprintf(json_str, "{\"type\":\"%s\",\"commond\":\"%s\",\"number\":%i,\"event_id\":%i}" + , uav.type, uav.commond, uav.number, uav.event_id); + sendMessage(json_str); +} + +void open_hd() { + strcpy(uav.type, "wrj"); + strcpy(uav.commond, "open_hd"); + number = number + 1; + event_id = event_id + 1; + uav.number = number; + uav.event_id = event_id; + char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长 + sprintf(json_str, "{\"type\":\"%s\",\"commond\":\"%s\",\"number\":%i,\"event_id\":%i}" + , uav.type, uav.commond, uav.number, uav.event_id); + sendMessage(json_str); +} + +void close_hd() { + strcpy(uav.type, "wrj"); + strcpy(uav.commond, "close_hd"); + number = number + 1; + event_id = event_id + 1; + uav.number = number; + uav.event_id = event_id; + char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长 + sprintf(json_str, "{\"type\":\"%s\",\"commond\":\"%s\",\"number\":%i,\"event_id\":%i}" + , uav.type, uav.commond, uav.number, uav.event_id); + sendMessage(json_str); +} + +void fly_by_3d_direction() { + char powers[3]; + printf("设置飞行方向,三个参数[X:前后,Y:左右,Z:上下]以,分割(示例：1,2,3):"); + scanf("%s", &powers); + if(sizeof(powers) != 3){ + int code; + printf("输入旋翼参数异常,1:重新输入,0:退出"); + scanf("%c", &code); + if(code == 0){ + return; + }else if(code == 1){ + setRotorPower(); + return; + } + } + strcpy(uav.type, "wrj"); + strcpy(uav.commond, "fly_by_3d_direction"); + int i; + for (i =0;i<4;i++){ + float p = powers[i]; + uav.direction[i] = p; + } +// memcpy(uav.direction, directionF, sizeof(directionF)); + float speed; + printf("设置飞行速度(米/秒):"); + scanf("%f", &speed); + uav.speed = speed; + float duration; + printf("飞行时间(秒):"); + scanf("%f", &duration); + uav.time = duration; + number = number + 1; + event_id = event_id + 1; + uav.number = number; + uav.event_id = event_id; + char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长 + sprintf(json_str, "{\"type\":\"%s\",\"commond\":\"%s\",\"number\":%i,\"event_id\":%i,\"direction\":\"%s\",\"speed\":%f,\"duration\":%f}" + , uav.type, uav.commond, uav.number, uav.event_id,uav.direction,uav.speed,uav.time); + sendMessage(json_str); +} diff --git a/c++/devC/devC2/UavWork.h b/c++/devC/devC2/UavWork.h new file mode 100644 index 0000000..b255f37 --- /dev/null +++ b/c++/devC/devC2/UavWork.h @@ -0,0 +1,63 @@ +#ifndef _WEBSOCKETCLIENT_H_ +#define _WEBSOCKETCLIENT_H_ + +#include "WebsocketConfig.h" + + typedef struct { + char color[4]; + float intensity; + float halo; + }InParam; + + typedef struct { + int rotor_power[4]; /*旋翼输出y*/ + }InParam2; + + typedef struct { + int event_id; + int number; /*编号*/ + char name[100]; /*名称*/ + char color_1[8]; /*颜色1*/ + char color_2[8]; /*颜色2*/ + char color; + float pos[2]; + char type[10]; + char commond[20]; + int rotor_power[4]; /*旋翼输出y*/ + char ligter_color; /*灯光颜色*/ + double height; /*高度*/ + double distance; /*水平距离*/ + float direction[3]; /*姿态角*/ + double horizontal_speed; /*水平速度*/ + double vertical_speed; /*垂直速度*/ + float speed; /*设置飞行速度(米/秒)*/ + float time; /*飞行时间*/ + float duration; /*固定时间*/ + InParam parameters; + InParam2 parameters2; + }UAV; + bool init(); /*初始化连接*/ + void initUav(); + void init_position(); //初始化返航点 + void set_name(); //设置名称 + void set_color(); //设置颜色 + void start_engine(); //启动无人机 + void shut_down_engine(); //关闭无人机 + void set_rotor_power(); //设置各旋翼动力 + void open_lighter(); + void close_lighter(); + void get_current_height(); + void get_current_attitude_angle(); + void get_current_distance(); + void get_current_horizontal_speed(); + void get_current_vertical_speed(); + void open_hd(); + void close_hd(); + void fly_by_3d_direction(); //7.控制无人机飞行方向与速度 speed速度 flyTime飞行时间 + UAV uav; + InParam inParams; + InParam2 inParams2; + int number = 0; /*编号*/ + int event_id = 0; +#endif + diff --git a/c++/devC/devC2/UavWork.o b/c++/devC/devC2/UavWork.o new file mode 100644 index 0000000..44a3709 Binary files /dev/null and b/c++/devC/devC2/UavWork.o differ diff --git a/c++/devC/devC2/WebsocketClient.c b/c++/devC/devC2/WebsocketClient.c new file mode 100644 index 0000000..e615e48 --- /dev/null +++ b/c++/devC/devC2/WebsocketClient.c @@ -0,0 +1,27 @@ +#include +#include +#include "WebsocketClient.h" +#include "UavWork.h" +#pragma comment(lib,"ws2_32.lib") + + +int main(int argc, char *argv[]) { + int num; + printf("请选择需要操作的组件类型：\n"); + printf("1.无人机\n"); + printf("2.机器人\n"); + printf("3.数字人\n"); + scanf("%d", &num); + printf("你输入的整数是： %d\n", num); + operate(num); + return 0; +} + +void operate(int choose) { + switch(choose) { + case 1: init(); break; + case 2:break; + case 3:break; + } +} + diff --git a/c++/devC/devC2/WebsocketClient.h b/c++/devC/devC2/WebsocketClient.h new file mode 100644 index 0000000..6cfca30 --- /dev/null +++ b/c++/devC/devC2/WebsocketClient.h @@ -0,0 +1,9 @@ +#ifndef _WEBSOCKETCLIENT_H_ +#define _WEBSOCKETCLIENT_H_ + +#define BUF_SIZE 1024 + +void operate(int choose); + +#endif + diff --git a/c++/devC/devC2/WebsocketClient.o b/c++/devC/devC2/WebsocketClient.o new file mode 100644 index 0000000..36dda42 Binary files /dev/null and b/c++/devC/devC2/WebsocketClient.o differ diff --git a/c++/devC/devC2/WebsocketConfig.c b/c++/devC/devC2/WebsocketConfig.c new file mode 100644 index 0000000..3021087 --- /dev/null +++ b/c++/devC/devC2/WebsocketConfig.c @@ -0,0 +1,151 @@ +#include "WebsocketConfig.h" +#include +#include "Transcoding.h" + + + +int websocket_connect(Websocket *ws, const char *address){ + // 解析URL + char host[BUF_SIZE], path[BUF_SIZE]; + int port = 80; + char *url = (char *)malloc(sizeof(char) * 100); + memset(url, 0, strlen(url)); + if(strlen(address) == 0) { + url = (char *)"ws://127.0.0.1:10088/cxx"; + } else { + memcpy(url,address,strlen(address)); + } + + if (sscanf(url, "ws://%[^:/]:%d/%s", host, &port, path) != 3) { + if (sscanf(url, "ws://%[^:/]:%d", host, &port) != 2) { + return -1; + } + } + + WSADATA wsaData; + if(WSAStartup(MAKEWORD(2,2),&wsaData) != 0) { + printf("winsock连接失败"); + return -1; + } + + // 建立TCP连接 + int sockfd = socket(AF_INET, SOCK_STREAM, 0); + SOCKADDR_IN addr; + addr.sin_family = AF_INET; + addr.sin_port = htons(port); + addr.sin_addr.S_un.S_addr = inet_addr(host); + int result = connect(sockfd, (SOCKADDR*)&addr, sizeof(SOCKADDR)); + if (result < 0) { + closesocket(sockfd); + return -1; + } + + // 发送WebSocket握手请求 + sprintf(ws->buf, "GET /%s HTTP/1.1\r\n", path); + sprintf(ws->buf + strlen(ws->buf), "Host: %s:%d\r\n", host, port); + sprintf(ws->buf + strlen(ws->buf), "Connection: Upgrade\r\n"); + sprintf(ws->buf + strlen(ws->buf), "Pragma: no-cache\r\n"); + sprintf(ws->buf + strlen(ws->buf), "Cache-Control: no-cache\r\n"); + sprintf(ws->buf + strlen(ws->buf), "Upgrade: websocket\r\n"); + sprintf(ws->buf + strlen(ws->buf), "Sec-WebSocket-Version: 13\r\n"); + sprintf(ws->buf + strlen(ws->buf), "Accept-Encoding: gzip, deflate\r\n"); + sprintf(ws->buf + strlen(ws->buf), "Accept-Language: zh-CN,zh;q=0.9\r\n"); + sprintf(ws->buf + strlen(ws->buf), "Sec-WebSocket-Version: 13\r\n"); + sprintf(ws->buf + strlen(ws->buf), "Sec-WebSocket-Key: dGhlIHNhbXBsZSBub25jZQ==\r\n"); + sprintf(ws->buf + strlen(ws->buf), "Sec-WebSocket-Extensions: permessage-deflate; client_max_window_bits\r\n"); + sprintf(ws->buf + strlen(ws->buf), "\r\n"); + if (send(sockfd, ws->buf, strlen(ws->buf), 0) < 0) { + closesocket(sockfd); + return -1; + } + + // 接收WebSocket握手响应 + int n = recv(sockfd, ws->buf, BUF_SIZE, 0); + if (n < 0) { + closesocket(sockfd); + return -1; + } + + ws->buf[n] = '\0'; + + //HTTP/1.1 101 Switching Protocols + if (strstr(ws->buf, "HTTP/1.1 101") == NULL) { + closesocket(sockfd); + return -1; + } + // WebSocket连接建立成功 + ws->sockfd = sockfd; + return 0; +} + +//const char* parseObject(UAV uav) { +// char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长 +//// sprintf(json_str, "{\"number\":\"%i\",\"event_id\":\"%i\",\"pos\":%s,\"type\":%s,\"commond\":%s}" +//// ,uav.number, uav.event_id,"[0.0,0.0]", uav.type, uav.commond); +// sprintf(json_str, "{\"event_id\":\"%i\",\"type\":%s,\"commond\":%s}" +// , uav.event_id, uav.type, uav.commond); +// return json_str; +//} + +int websocket_recv() { + // 接收响应消息 + char recvMsg[1024]; + memset(recvMsg, 0, sizeof(recvMsg)); + int recvLen = recv(websocket.sockfd, recvMsg, sizeof(recvMsg) - 1, 0); + if (recvLen == SOCKET_ERROR || recvLen == 0) { + printf("接收响应消息失败\n"); + return -1; + } + recvMsg[recvLen] = '\0'; +// char* abc = UTF8ToANSI(recvMsg); + printf("收到响应消息:%s",recvMsg); + return recvLen; +} + +int websocket_send(const char *data, int len) { + // 构造WebSocket数据帧 + char frame[BUF_SIZE]; + frame[0] = 0x81; + frame[1] = (0x80 | len); + frame[2] = 0x12; + frame[3] = 0x34; + frame[4] = 0x56; + frame[5] = 0x78; + int i; + for (i = 0; i < len; i++) { + frame[i + 6] = data[i] ^ frame[i%4+2]; + } + if (send(websocket.sockfd, frame, strlen(frame), 0) < 0) { + return -1; + } + return 0; +} + +void sendMessage(const char *data) { + printf(data); + if (websocket_send(data,strlen(data)) < 0) { + printf("WebSocket发送数据失败\n"); + websocket_close(); + }else{ + printf("WebSocket发送数据成功呢\n"); + getChoose(); + } +} + +void websocket_close() { + closesocket(websocket.sockfd); + printf("子线程已销毁，通信已关闭"); +} + +void createPthread() { + // 创建接收消息的线程 + if (pthread_create(&reply_thread, NULL, websocket_recv, NULL) != 0) { +// printf("创建接收消息线程失败"); + exit(1); + }else { +// printf("创建接收消息线程成功"); + } +} + + + diff --git a/c++/devC/devC2/WebsocketConfig.h b/c++/devC/devC2/WebsocketConfig.h new file mode 100644 index 0000000..f479067 --- /dev/null +++ b/c++/devC/devC2/WebsocketConfig.h @@ -0,0 +1,23 @@ +#ifndef _WEBSOCKETCONFIG_H_ +#define _WEBSOCKETCONFIG_H_ + +#include "WebsocketModel.h" +#include +#include +#include +#include + + pthread_t send_thread, reply_thread; + + int websocket_connect(Websocket *ws, const char *address); + + int websocket_recv(); + + int websocket_send(const char *data, int len); + + void websocket_close(); + + void createPthread(); + + +#endif diff --git a/c++/devC/devC2/WebsocketConfig.o b/c++/devC/devC2/WebsocketConfig.o new file mode 100644 index 0000000..945606c Binary files /dev/null and b/c++/devC/devC2/WebsocketConfig.o differ diff --git a/c++/devC/devC2/WebsocketModel.h b/c++/devC/devC2/WebsocketModel.h new file mode 100644 index 0000000..9a7e1cb --- /dev/null +++ b/c++/devC/devC2/WebsocketModel.h @@ -0,0 +1,8 @@ +#define BUF_SIZE 1024 + +typedef struct { + int sockfd; + char buf[BUF_SIZE]; +} Websocket; + +Websocket websocket; diff --git a/c++/devC/devC2/gmon.out b/c++/devC/devC2/gmon.out new file mode 100644 index 0000000..b067f9f Binary files /dev/null and b/c++/devC/devC2/gmon.out differ