У меня проблема с тем, что я не могу обернуть голову, искал повсюду, но, честно говоря, я не знаю, что искать. Я использую Visual Studio 2019.
Если я запускаю приведенный выше код в новом проекте -> Windows Консольное приложение, все идет гладко и работает.
Если я делаю это на мое текущее приложение вызывает ошибки, просто включив заголовочный файл. Я публикую здесь оба заголовка, тот, который я включаю, и тот, который вызывает все ошибки
Однако, поскольку я пытаюсь реализовать и работать с известной библиотекой, я пытаюсь реализовать ее в своем приложении Qt (Также с использованием Visual Studio).
По моему нынешнему опыту, который не так уж много, он вызывает ошибки, как только обрабатывается «include connection_result.h» и из этого окна происходит каждая ошибка.
Это странно, потому что, если я включаю те же заголовки в новое консольное приложение, это работает без проблем, это что-то несовместимое? Я даже проверил класс enum (я не был полностью осведомлен об этом), и все, кажется, хорошо ...
В моем приложении, как только я включаю следующую ошибку, я получаю ошибки. Он говорит много синтаксических ошибок, но я не вижу их, и если бы это было проблемой, это также вызвало бы их в консольном приложении, верно?
mavsdk.h
#pragma once
#include <string>
#include <memory>
#include <vector>
#include <functional>
#include "system.h"
#include "connection_result.h"
namespace mavsdk {
class MavsdkImpl;
class System;
/**
* @brief This is the main class of MAVSDK (a MAVLink API Library).
* It is used to discover vehicles and manage active connections.
*
* An instance of this class must be created (first) in order to use the library.
* The instance must be destroyed after use in order to break connections and release all resources.
*/
class Mavsdk {
public:
/** @brief Default UDP bind IP (accepts any incoming connections). */
static constexpr auto DEFAULT_UDP_BIND_IP = "0.0.0.0";
/** @brief Default UDP bind port (same port as used by MAVROS). */
static constexpr int DEFAULT_UDP_PORT = 14540;
/** @brief Default TCP remote IP (localhost). */
static constexpr auto DEFAULT_TCP_REMOTE_IP = "127.0.0.1";
/** @brief Default TCP remote port. */
static constexpr int DEFAULT_TCP_REMOTE_PORT = 5760;
/** @brief Default serial baudrate. */
static constexpr int DEFAULT_SERIAL_BAUDRATE = 57600;
/**
* @brief Constructor.
*/
Mavsdk();
/**
* @brief Destructor.
*
* Disconnects all connected vehicles and releases all resources.
*/
~Mavsdk();
/**
* @brief Returns the version of MAVSDK.
*
* Note, you're not supposed to request the version too many times.
*
* @return A string containing the version.
*/
std::string version() const;
/**
* @brief Adds Connection via URL
*
* Supports connection: Serial, TCP or UDP.
* Connection URL format should be:
* - UDP - udp://[Bind_host][:Bind_port]
* - TCP - tcp://[Remote_host][:Remote_port]
* - Serial - serial://Dev_Node[:Baudrate]
*
* @param connection_url connection URL string.
* @return The result of adding the connection.
*/
ConnectionResult add_any_connection(const std::string& connection_url);
/**
* @brief Adds a UDP connection to the specified port number.
*
* Any incoming connections are accepted (0.0.0.0).
*
* @param local_port The local UDP port to listen to (defaults to 14540, the same as MAVROS).
* @return The result of adding the connection.
*/
ConnectionResult add_udp_connection(int local_port = DEFAULT_UDP_PORT);
/**
* @brief Adds a UDP connection to the specified port number and local interface.
*
* To accept only local connections of the machine, use 127.0.0.1.
* For any incoming connections, use 0.0.0.0.
*
* @param local_ip The local UDP IP address to listen to.
* @param local_port The local UDP port to listen to (defaults to 14540, the same as MAVROS).
* @return The result of adding the connection.
*/
ConnectionResult
add_udp_connection(const std::string& local_ip, int local_port = DEFAULT_UDP_PORT);
/**
* @brief Sets up instance to send heartbeats to the specified remote interface and port number.
*
* @param remote_ip The remote UDP IP address to report to.
* @param remote_port The local UDP port to report to.
* @return The result of operation.
*/
ConnectionResult setup_udp_remote(const std::string& remote_ip, int remote_port);
/**
* @brief Adds a TCP connection with a specific port number on localhost.
*
* @param remote_port The TCP port to connect to (defaults to 5760).
* @return The result of adding the connection.
*/
ConnectionResult add_tcp_connection(int remote_port = DEFAULT_TCP_REMOTE_PORT);
/**
* @brief Adds a TCP connection with a specific IP address and port number.
*
* @param remote_ip Remote IP address to connect to.
* @param remote_port The TCP port to connect to (defaults to 5760).
* @return The result of adding the connection.
*/
ConnectionResult
add_tcp_connection(const std::string& remote_ip, int remote_port = DEFAULT_TCP_REMOTE_PORT);
/**
* @brief Adds a serial connection with a specific port (COM or UART dev node) and baudrate as
* specified.
*
*
* @param dev_path COM or UART dev node name/path (e.g. "/dev/ttyS0", or "COM3" on Windows).
* @param baudrate Baudrate of the serial port (defaults to 57600).
* @return The result of adding the connection.
*/
ConnectionResult
add_serial_connection(const std::string& dev_path, int baudrate = DEFAULT_SERIAL_BAUDRATE);
/**
* @brief Possible configurations.
*/
enum class Configuration {
Autopilot, /**< @brief SDK is used as an autopilot. */
GroundStation, /**< @brief SDK is used as a ground station. */
CompanionComputer /**< @brief SDK is used on a companion computer onboard the system (e.g.
drone). */
};
/**
* @brief Set `Configuration` of SDK.
*
* The default configuration is `Configuration::GroundStation`
* The configuration is used in order to set the MAVLink system ID, the
* component ID, as well as the MAV_TYPE accordingly.
*
* @param configuration Configuration chosen.
*/
void set_configuration(Configuration configuration);
/**
* @brief Get vector of system UUIDs.
*
* This returns a vector of the UUIDs of all systems that have been discovered.
* If a system doesn't have a UUID then Mavsdk will instead use its MAVLink system ID
* (range: 0..255).
*
* @return A vector containing the UUIDs.
*/
std::vector<uint64_t> system_uuids() const;
/**
* @brief Get the first discovered system.
*
* This returns the first discovered system or a null system if no system has yet been found.
*
* @return A reference to a system.
*/
System& system() const;
/**
* @brief Get the system with the specified UUID.
*
* This returns a system for a given UUID if such a system has been discovered and a null
* system otherwise.
*
* @param uuid UUID of system to get.
* @return A reference to the specified system.
*/
System& system(uint64_t uuid) const;
/**
* @brief Callback type for discover and timeout notifications.
*
* @param uuid UUID of system (or MAVLink system ID for systems that don't have a UUID).
*/
typedef std::function<void(uint64_t uuid)> event_callback_t;
/**
* @brief Returns `true` if exactly one system is currently connected.
*
* Connected means we are receiving heartbeats from this system.
* It means the same as "discovered" and "not timed out".
*
* If multiple systems have connected, this will return `false`.
*
* @return `true` if exactly one system is connected.
*/
bool is_connected() const;
/**
* @brief Returns `true` if a system is currently connected.
*
* Connected means we are receiving heartbeats from this system.
* It means the same as "discovered" and "not timed out".
*
* @param uuid UUID of system to check.
* @return `true` if system is connected.
*/
bool is_connected(uint64_t uuid) const;
/**
* @brief Register callback for system discovery.
*
* This sets a callback that will be notified if a new system is discovered.
*
* If systems have been discovered before this callback is registered, they will be notified
* at the time this callback is registered.
*
* @note Only one callback can be registered at a time. If this function is called several
* times, previous callbacks will be overwritten.
*
* @param callback Callback to register.
*
*/
void register_on_discover(event_callback_t callback);
/**
* @brief Register callback for system timeout.
*
* This sets a callback that will be notified if no heartbeat of the system has been received
* in 3 seconds.
*
* @note Only one callback can be registered at a time. If this function is called several
* times, previous callbacks will be overwritten.
*
* @param callback Callback to register.
*/
void register_on_timeout(event_callback_t callback);
private:
/* @private. */
std::unique_ptr<MavsdkImpl> _impl;
// Non-copyable
Mavsdk(const Mavsdk&) = delete;
const Mavsdk& operator=(const Mavsdk&) = delete;
};
} // namespace mavsdk
connection_result.h
#pragma once
/**
* @brief Namespace for all mavsdk types.
*/
namespace mavsdk {
/**
* @brief Result type returned when adding a connection.
*
* **Note**: Mavsdk does not throw exceptions. Instead a result of this type will be
* returned when you add a connection: add_udp_connection().
*/
enum class ConnectionResult {
SUCCESS = 0, /**< @brief %Connection succeeded. */
TIMEOUT, /**< @brief %Connection timed out. */
SOCKET_ERROR, /**< @brief Socket error. */
BIND_ERROR, /**< @brief Bind error. */
SOCKET_CONNECTION_ERROR, /**< @brief Socket connection error. */
CONNECTION_ERROR, /**< @brief %Connection error. */
NOT_IMPLEMENTED, /**< @brief %Connection type not implemented. */
SYSTEM_NOT_CONNECTED, /**< @brief No system is connected. */
SYSTEM_BUSY, /**< @brief %System is busy. */
COMMAND_DENIED, /**< @brief Command is denied. */
DESTINATION_IP_UNKNOWN, /**< @brief %Connection IP is unknown. */
CONNECTIONS_EXHAUSTED, /**< @brief %Connections exhausted. */
CONNECTION_URL_INVALID, /**< @brief URL invalid. */
BAUDRATE_UNKNOWN /**< @brief Baudrate unknown. */
};
/**
* @brief Returns a human-readable English string for a ConnectionResult.
*
* @param result The enum value for which a human readable string is required.
* @return Human readable string for the ConnectionResult.
*/
inline const char* connection_result_str(const ConnectionResult result)
{
switch (result) {
case ConnectionResult::SUCCESS:
return "Success";
case ConnectionResult::TIMEOUT:
return "Timeout";
case ConnectionResult::SOCKET_ERROR:
return "Socket error";
case ConnectionResult::BIND_ERROR:
return "Bind error";
case ConnectionResult::SOCKET_CONNECTION_ERROR:
return "Socket connection error";
case ConnectionResult::CONNECTION_ERROR:
return "Connection error";
case ConnectionResult::NOT_IMPLEMENTED:
return "Not implemented";
case ConnectionResult::SYSTEM_NOT_CONNECTED:
return "System not connected";
case ConnectionResult::SYSTEM_BUSY:
return "System busy";
case ConnectionResult::COMMAND_DENIED:
return "Command denied";
case ConnectionResult::DESTINATION_IP_UNKNOWN:
return "Destination IP unknown";
case ConnectionResult::CONNECTIONS_EXHAUSTED:
return "Connections exhausted";
case ConnectionResult::CONNECTION_URL_INVALID:
return "Invalid connection URL";
case ConnectionResult::BAUDRATE_UNKNOWN:
return "Baudrate unknown";
default:
return "Unknown";
}
}
} // namespace mavsdk
Журналы ошибок из Visual Studio:
1>------ Build started: Project: Drones_QT_teste, Configuration: Debug x64 ------
1>AssignDronesWindow.cpp
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(17,5): error C2143: syntax error: missing '}' before '('
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(17,5): error C2059: syntax error: '-'
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(29,1): error C2143: syntax error: missing ';' before '}'
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(37,65): error C4430: missing type specifier - int assumed. Note: C++ does not support default-int
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(37,65): error C2146: syntax error: missing ')' before identifier 'result'
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(37,71): error C3646: 'result': unknown override specifier
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(37,71): error C2059: syntax error: ')'
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(39,13): error C2065: 'result': undeclared identifier
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(39,21): error C2050: switch expression not integral
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(40,39): error C2653: 'ConnectionResult': is not a class or namespace name
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(40,32): error C2065: 'SUCCESS': undeclared identifier
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(42,39): error C2653: 'ConnectionResult': is not a class or namespace name
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(42,32): error C2065: 'TIMEOUT': undeclared identifier
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(44,32): error C2589: '(': illegal token on right side of '::'
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(44,32): error C2062: type 'unknown-type' unexpected
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(44,32): error C2059: syntax error: ')'
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(46,42): error C2653: 'ConnectionResult': is not a class or namespace name
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(46,32): error C2065: 'BIND_ERROR': undeclared identifier
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(48,55): error C2653: 'ConnectionResult': is not a class or namespace name
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(48,32): error C2065: 'SOCKET_CONNECTION_ERROR': undeclared identifier
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(50,48): error C2653: 'ConnectionResult': is not a class or namespace name
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(50,32): error C2065: 'CONNECTION_ERROR': undeclared identifier
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(52,47): error C2653: 'ConnectionResult': is not a class or namespace name
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(52,32): error C2065: 'NOT_IMPLEMENTED': undeclared identifier
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(54,52): error C2653: 'ConnectionResult': is not a class or namespace name
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(54,32): error C2065: 'SYSTEM_NOT_CONNECTED': undeclared identifier
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(56,43): error C2653: 'ConnectionResult': is not a class or namespace name
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(56,32): error C2065: 'SYSTEM_BUSY': undeclared identifier
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(58,46): error C2653: 'ConnectionResult': is not a class or namespace name
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(58,32): error C2065: 'COMMAND_DENIED': undeclared identifier
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(60,54): error C2653: 'ConnectionResult': is not a class or namespace name
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(60,32): error C2065: 'DESTINATION_IP_UNKNOWN': undeclared identifier
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(62,53): error C2653: 'ConnectionResult': is not a class or namespace name
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(62,32): error C2065: 'CONNECTIONS_EXHAUSTED': undeclared identifier
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(64,54): error C2653: 'ConnectionResult': is not a class or namespace name
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(64,32): error C2065: 'CONNECTION_URL_INVALID': undeclared identifier
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(66,48): error C2653: 'ConnectionResult': is not a class or namespace name
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(66,32): error C2065: 'BAUDRATE_UNKNOWN': undeclared identifier
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(40,1): error C2051: case expression not constant
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(42,1): error C2051: case expression not constant
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(46,1): error C2051: case expression not constant
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(48,1): error C2051: case expression not constant
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(50,1): error C2051: case expression not constant
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(52,1): error C2051: case expression not constant
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(54,1): error C2051: case expression not constant
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(56,1): error C2051: case expression not constant
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(58,1): error C2051: case expression not constant
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(60,1): error C2051: case expression not constant
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(62,1): error C2051: case expression not constant
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(64,1): error C2051: case expression not constant
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(66,1): error C2051: case expression not constant
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(73,1): error C2059: syntax error: '}'
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\connection_result.h(73,1): error C2143: syntax error: missing ';' before '}'
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\mavsdk.h(11,18): error C2143: syntax error: missing ';' before '{'
1>C:\Program Files (x86)\mavsdk_superbuild\include\mavsdk\mavsdk.h(11,18): error C2447: '{': missing function header (old-style formal list?)
1>C:\Users\Backlight_AG\Desktop\Drones_QT_teste\Drones_QT_teste\AssignDronesWindow.cpp(159,5): error C2065: 'Mavsdk': undeclared identifier
1>C:\Users\Backlight_AG\Desktop\Drones_QT_teste\Drones_QT_teste\AssignDronesWindow.cpp(159,12): error C2146: syntax error: missing ';' before identifier 'dc'
1>C:\Users\Backlight_AG\Desktop\Drones_QT_teste\Drones_QT_teste\AssignDronesWindow.cpp(159,12): error C2065: 'dc': undeclared identifier
1>Done building project "Drones_QT_teste.vcxproj" -- FAILED.
========== Build: 0 succeeded, 1 failed, 0 up-to-date, 0 skipped ==========