commit a3ee34a1da366e4c5765f91e21bea88274f7e773
Author: LiXiaoqi <2360211477.com>
Date:   Fri Oct 18 10:20:13 2024 +0800

    commit

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diff --git a/debuginros.md b/debuginros.md
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+# 在Vscode中调试ROS
+
+## 单节点应用
+
+1. 在编译前在CMakeLists.txt文件中，指定Debug编译模式
+
+   ```cmake
+   set(CMAKE_BUILD_TYPE Debug)
+   ```
+
+2. 配置launch.json 和tasks.json(在根目录.vscode文件夹中)
+
+   ```json
+   // tasks.json
+   {
+       // See https://go.microsoft.com/fwlink/?LinkId=733558
+       // for the documentation about the tasks.json format
+       "version": "2.0.0",
+       "tasks": [
+           {
+               "label": "rws build", // 名称自定义，要与launch.josn文件要一致 @1
+               "type": "shell",
+               "command": "source ${workspaceFolder}/install/setup.sh"
+               // "command": "colcon build && source ${workspaceFolder}/install/setup.sh" 
+               // 不一定调试都需要重新编译
+           },
+       ]
+   }
+   ```
+
+   ```json
+   //launch.json
+   {
+       "version": "0.2.0",
+       "configurations": [
+           {
+               "name": "Debug rws Executable", // 名称自定义
+               "type": "cppdbg",
+               "request": "launch", 
+               "program": "${workspaceFolder}/install/rws/lib/rws/rws_server", // 编译好的可执行程序所在路径
+               "cwd": "${workspaceFolder}", // 工作目录，默认即可
+               "args": [ // 调试阶段需要传递给可执行程序的参数
+               ],
+               "MIMode": "gdb",
+               "setupCommands": [
+                   {
+                       "description": "Enable pretty-printing for gdb",
+                       "text": "-enable-pretty-printing",
+                       "ignoreFailures": true
+                   }
+               ],
+               "preLaunchTask": "rws build", // 这里需要与上面的task.json的名称对应 @1
+               "miDebuggerPath": "/usr/bin/gdb",
+               "miDebuggerArgs": "",
+           },
+       ]
+   }
+   
+   ```
+
+3.  调试
+
+   ![image-20240924145117137](/assert/1.png)
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diff --git a/ffigen.md b/ffigen.md
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+# ffigen
+
+源文件代码如下
+
+```c
+#ifndef HELLO_H
+#define HELLO_H
+#include "ppp.h" // 为了使用struct Point
+#include <stdio.h> // 标准库文件
+
+void hello();
+void say_hello(const char* name);
+void say_hello2(struct Point* p);
+
+
+#endif	
+```
+
+只想生成当前文件下的函数声明，而不生成有关标准库里面的内容
+
+```yaml
+# pubsspey.yaml
+headers:
+    entry-points:
+      - "clibrary/hello.h"
+    include-directives:
+      - "**hello.h"  # 使用相对路径不管用
+      
+
+```
+
+生成出来的dart代码没有标准库中的符号。
+
+但是自动生成ppp.h中有关struct Point 结构体的相关内容（say_hello2函数参数用到了）
+
+```dart
+class Point extends ffi.Struct {
+  @ffi.Int32()
+  external int TID;
+  @ffi.Int32()
+  external int type;
+  @ffi.Int32()
+  ......
+}
+
+```
+
+
+
+如果不关心结构体具体内容
+
+```yaml
+# pubsspey.yaml
+structs:
+    dependency-only: opaque
+```
+
+
+
+生成的代码如下
+
+```dart
+class Point extends ffi.Opaque {} // error 需要手动修改
+// 修改后
+final class Point extends ffi.Opaque {}
+```
+
+
+
+ffi生成的class 有错误 需要手动更改
+
+```dart
+final class Point extends ffi.Struct {
+  @ffi.Int32()
+  external int x;
+} // 正确
+class Point extends ffi.Struct {
+  @ffi.Int32()
+  external int x;
+}// 错误，缺少final ffigen自动生成的
+```
+
+未避免每次生成都需要手动更改
+解决方案：第一次通过ffi生成后，将class复制到另外一个文件中 bindings.dart。但是生成的dart代码中找不到Point类型，需要引入bindings.dart这个文件。于是需要进行配置，
+
+使生成的代码，自动引入class所在的dart文件
+
+```yaml
+library-imports:
+    point: 'bindings.dart' # @1 point需要引入dart文件，也可以引入其他package bindings存放了class Point
+  type-map:
+    'structs': # Point是结构体.
+      'Point': # 依赖的C语言中的结构体名称
+        'lib': 'point' # @1 名字自定义 
+        'c-type': 'Point' # import 'bindings.dart' as point   ffi.Pointer<point.Point> // point文件中具体要使用的类型
+        'dart-type': 'point'
+```
+
+```dart
+import 'bindings.dart' as point // @1;
+......
+
+  void say_hello2(
+    ffi.Pointer<point.Point> p,
+  ) {
+    return _say_hello2(
+      p,
+    );
+  }
+
+  late final _say_hello2Ptr =
+      _lookup<ffi.NativeFunction<ffi.Void Function(ffi.Pointer<point.Point>)>>(
+          'say_hello2');
+  late final _say_hello2 =
+      _say_hello2Ptr.asFunction<void Function(ffi.Pointer<point.Point>)>();
+```
+
+生成的代码中既没有错误的class Point 也不需要手动引入正确的dart Point类
+