{"id":1289,"date":"2019-08-27T00:12:08","date_gmt":"2019-08-26T15:12:08","guid":{"rendered":"http:\/\/192.168.0.50\/wordpress\/index.php\/2019\/08\/27\/http-www-cas-hc-uec-ac-jp-wordpress-p9662\/"},"modified":"2019-08-27T00:12:08","modified_gmt":"2019-08-26T15:12:08","slug":"http-www-cas-hc-uec-ac-jp-wordpress-p9662","status":"publish","type":"post","link":"http:\/\/www.cas.lab.uec.ac.jp\/wordpress\/http-www-cas-hc-uec-ac-jp-wordpress-p9662\/","title":{"rendered":"C++17\/20\u304c\u604b\u3057\u3044\u65e5\u3005"},"content":{"rendered":"

Sirius\u30c1\u30fc\u30e0 \u30ea\u30fc\u30c0\u30fc\u517c\u30bd\u30d5\u30c8\u73ed\u306e\u7530\u6240\u3067\u3059\u3002<\/p>\n

\u79c1\u9054\u306e\u30ed\u30fc\u30d0\u30fc\u306b\u306fRaspberry Pi Zero-W\u3092\u642d\u8f09\u3057\u3066\u3044\u3066\u3001\u30d7\u30ed\u30b0\u30e9\u30e0\u306f\u5168\u3066C++\u3067\u66f8\u304b\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n

C++\u306f\u597d\u304d\u306a\u8a00\u8a9e\u306e1\u3064\u3067\u3001\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u7d44\u3080\u3053\u3068\u306f\u82e6\u3067\u306f\u306a\u3044\u306e\u3067\u3059\u304c\u2026
\n\u552f\u4e00\u306e\u554f\u984c\u70b9\u306f\u3001<\/p>\n

\u6700\u65b0\u306eC++\u304c\u4f7f\u3048\u306a\u3044\uff01\uff01\uff01<\/strong><\/span><\/p>\n

\u3053\u3068\u306a\u306e\u3067\u3059\u3002<\/p>\n

Raspberry Pi\u306eapt\u30ea\u30dd\u30b8\u30c8\u30ea\u306b\u4e0a\u304c\u3063\u3066\u3044\u308bGCC\u306f\u30d0\u30fc\u30b8\u30e7\u30f3\u304c\u5c11\u3057\u53e4\u304f\u3001C++14(2014\u5e74\u306b\u7b56\u5b9a\u3055\u308c\u305fC++\u6a19\u6e96\u898f\u683c)\u307e\u3067\u3057\u304b\u4f7f\u7528\u3067\u304d\u307e\u305b\u3093\u3002
\n\u81ea\u524d\u3067\u30b3\u30f3\u30d1\u30a4\u30eb\u3059\u308b\u306e\u306f\u9762\u5012\u306a\u4e0a\u306b\u3001ARLISS\u3067\u306f\u3044\u3056\u3068\u306a\u3063\u305f\u3068\u304d\u4e88\u5099\u306eSD\u30ab\u30fc\u30c9\u3092\u4f7f\u7528\u3057\u305f\u308a\u3059\u308b\u306e\u3067apt\u30b3\u30de\u30f3\u30c9\u3067\u5165\u308bGCC\u3067\u30b3\u30f3\u30d1\u30a4\u30eb\u3067\u304d\u306a\u3044\u3068\u9762\u5012\u4e8b\u306b\u7e4b\u304c\u3063\u3066\u3057\u307e\u3046\u306e\u3067\u3059\u3002<\/p>\n

C++14\u3088\u308a\u5f8c\u306e\u6a5f\u80fd\u304c\u4f7f\u3048\u306a\u304f\u3066\u4f55\u304c\u554f\u984c\u304b\u3068\u8a00\u3046\u3068\u3001\u4f8b\u3048\u3070\u2026<\/p>\n

for (const auto & help : helps)\n{\n    \/\/ \u30d8\u30eb\u30d7\u3092\u8868\u3059tuple\u3092\u5206\u89e3\n    const auto & commandName = std::get<0>(help);\n    const auto & args = std::get<1>(help);\n    const auto & description = std::get<2>(help);\n\n    \/\/ \u30d8\u30eb\u30d7\u3092\u8868\u793a\n    ...\n}<\/pre>\n
std::vector<std::tuple<std::string, std::vector<std::string>, std::string>>\u578b\u306ehelps\u5909\u6570\u3092range-based for\u3067\u56de\u3057\u305f\u3044\u3068\u304d\u3001\u30bf\u30d7\u30eb\u3092\u5206\u89e3\u3059\u308b\u306e\u304c\u975e\u5e38\u306b\u9762\u5012\u3067\u3059\u3002
\n\u304b\u3068\u8a00\u3063\u3066\u3001\u5c55\u958b\u305b\u305a\u306b\u4f7f\u3046\u3068\u5f8c\u306e\u30b3\u30fc\u30c9\u304cstd::get\u5730\u7344\u306b\u306a\u3063\u3066\u975e\u5e38\u306b\u8aad\u307f\u306b\u304f\u304f\u306a\u3063\u3066\u3057\u307e\u3044\u307e\u3059\u2026\u3002<\/p>\n
C++11\u304b\u3089\u4f7f\u3048\u308bstd::tie\u3092\u4f7f\u3046\u3068\u3082\u3046\u5c11\u3057\u30b9\u30c3\u30ad\u30ea\u66f8\u3051\u308b\u304b\u3082\u77e5\u308c\u307e\u305b\u3093\u304c\u3001\u5ba3\u8a00\u3068\u4ee3\u5165\u3092\u540c\u6642\u306b\u66f8\u3051\u306a\u3044\u306e\u3067\u884c\u6570\u304c\u6e1b\u3089\u306a\u3044\uff06\u4e0d\u5b9a\u5024\u304c\u4e0d\u5b89\u306b\u306a\u308b\u4e0a\u306b\u3001\u304b\u3064\u53c2\u7167\u578b\u306b\u3082\u3067\u304d\u306a\u3044\u306e\u3067\u4f59\u8a08\u306a\u30b3\u30d4\u30fc\u304c\u5897\u3048\u3066\u3057\u307e\u3044\u307e\u3059\u3002
\n\u307e\u305f\u3001std::tie\u3067\u306f\u578b\u63a8\u8ad6(auto)\u3082\u4f7f\u3048\u307e\u305b\u3093\u3002<\/p>\n
\u3053\u308c\u306f\u672c\u6765\u3001C++17\u304b\u3089\u306e\u6a5f\u80fd\u3067\u3042\u308b\u69cb\u9020\u5316\u675f\u7e1b(structured bindings)\u3092\u4f7f\u7528\u3057\u3066\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u30b9\u30c3\u30ad\u30ea\u66f8\u3051\u308b\u306f\u305a\u306a\u306e\u3067\u3059\u3002<\/p>\n
for (const auto & [commandName, args, description] : helps)\n{\n    \/\/ \u30d8\u30eb\u30d7\u3092\u8868\u793a\n    ...\n}<\/pre>\n
\u307e\u305f\u3001\u6765\u308bC++20\u3067\u306f\u3001\u30b3\u30eb\u30fc\u30c1\u30f3\u3068\u3044\u3046\u4fbf\u5229\u306a\u65b0\u6a5f\u80fd\u304c\u5b9f\u88c5\u3055\u308c\u308b\u4e88\u5b9a\u3067\u3059\u3002
\n\u30ed\u30fc\u30d0\u30fc\u958b\u767a\u306b\u304a\u3044\u3066\u306f\u3001\u3053\u306e\u30b3\u30eb\u30fc\u30c1\u30f3\u3068\u3044\u3046\u6a5f\u80fd\u304c\u4f7f\u3048\u308b\u3068\u3068\u3066\u3082\u697d\u306b\u5236\u5fa1\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u66f8\u304f\u3053\u3068\u304c\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u305d\u3046\u3067\u3059\u3002<\/p>\n
\u73fe\u72b6\u3001\u79c1\u9054\u306e\u30ed\u30fc\u30d0\u30fc\u30d7\u30ed\u30b0\u30e9\u30e0\u3067\u306f\u3001\u30e2\u30fc\u30bf\u30fc\u3084\u30bb\u30f3\u30b5\u30fc\u306a\u3069\u306e\u30c7\u30d0\u30a4\u30b9\u7cfb\u30af\u30e9\u30b9\u3001\u30ca\u30d3\u30b2\u30fc\u30b7\u30e7\u30f3\u3084\u30b4\u30fc\u30eb\u691c\u77e5\u306a\u3069\u306e\u52d5\u4f5c\u3092\u62c5\u3046\u30b7\u30fc\u30b1\u30f3\u30b9\u7cfb\u30af\u30e9\u30b9\u306a\u3069\u306b\u305d\u308c\u305e\u308c\u5b9f\u88c5\u3055\u308c\u305fupdate\u95a2\u6570\u304c\u3001\u6bce\u30d5\u30ec\u30fc\u30e0\u9806\u756a\u306b\u547c\u3070\u308c\u308b\u3088\u3046\u306a\u8a2d\u8a08\u306b\u306a\u3063\u3066\u3044\u307e\u3059(\u3044\u308f\u3086\u308b\u30bf\u30b9\u30af\u30b7\u30b9\u30c6\u30e0)\u3002
\n\u3053\u308c\u306b\u3088\u308a\u3001\u30bb\u30f3\u30b5\u5024\u53d6\u5f97\u3084\u30ed\u30b0\u51fa\u529b\u3001\u30ed\u30fc\u30d0\u30fc\u5236\u5fa1\u306a\u3069\u306e\u8907\u6570\u306e\u30bf\u30b9\u30af\u3092\u3042\u305f\u304b\u3082\u4e26\u5217\u3067\u5b9f\u884c\u3057\u3066\u3044\u308b\u3088\u3046\u306a\u52d5\u304d\u3092\u5b9f\u73fe\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n
\u3053\u306e\u3068\u304d\u554f\u984c\u3068\u306a\u308b\u306e\u304c\u3001\u30eb\u30fc\u30d7\u4e2d\u306b\u6642\u9593\u5f85\u3061\u3092\u66f8\u304f\u3053\u3068\u304c\u3067\u304d\u306a\u304f\u306a\u308b\u3053\u3068\u3067\u3059\u3002
\n\u30b2\u30fc\u30e0\u306a\u3069\u3092\u958b\u767a\u3057\u305f\u3053\u3068\u306e\u3042\u308b\u4eba\u306f\u3088\u304f\u5206\u304b\u308b\u304b\u3068\u601d\u3044\u307e\u3059\u304c\u3001\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\u4e2d\u306b\u6642\u9593\u5f85\u3061\u306e\u95a2\u6570\u3092\u66f8\u304f\u3068\u305d\u306e\u9593\u4ed6\u306e\u52d5\u4f5c\u304c\u884c\u308f\u308c\u306a\u304f\u306a\u3063\u3066\u3057\u307e\u3044\u307e\u3059\u3002
\n(pthread\u3084std::future\/std::thread\u3092\u4f7f\u3048\u3070\u89e3\u6c7a\u306f\u3067\u304d\u307e\u3059\u304c\u3001\u4e00\u90e8\u3067localtime\u95a2\u6570\u306a\u3069\u306e\u30b9\u30ec\u30c3\u30c9\u30bb\u30fc\u30d5\u3067\u306a\u3044\u95a2\u6570\u304c\u3055\u308a\u6c17\u306a\u304f\u4f7f\u308f\u308c\u3066\u3044\u308b\u306e\u3067\u4e26\u5217\u5b9f\u884c\u306f\u4f7f\u7528\u3057\u305f\u304f\u3042\u308a\u307e\u305b\u3093\u3002)<\/p>\n
\u4f8b\u3048\u3070\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u30d7\u30ed\u30b0\u30e9\u30e0\u306f\u66f8\u3044\u3066\u306f\u3044\u3051\u307e\u305b\u3093\u3002<\/p>\n
void DummySequence::update()\n{\n    m_rover->setMotorPower(1.0); \/\/ \u524d\u9032\n    delay(1000); \/\/ 1\u79d2\u5f85\u3064\n    m_rover->setMotorPower(0.0); \/\/ \u505c\u6b62\n    delay(1000); \/\/ 1\u79d2\u5f85\u3064\n    m_rover->setMotorPower(1.0); \/\/ \u524d\u9032\n    delay(1000); \/\/ 1\u79d2\u5f85\u3064\n    m_rover->setMotorPower(0.0); \/\/ \u505c\u6b62\n}<\/pre>\n
update\u95a2\u6570\u306f\u77ed\u6642\u9593\u3067return\u3067\u304d\u306a\u3044\u3068\u3044\u3051\u307e\u305b\u3093\u3002
\n\u305d\u3053\u3067\u4ee3\u308f\u308a\u306b\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u66f8\u304f\u3053\u3068\u306b\u306a\u308a\u307e\u3059\u3002
\n(\u3053\u3053\u3067\u3001Time\u306ftime\u95a2\u6570\u3084time_t\u578b\u306e\u8a08\u7b97\u3092\u30e9\u30c3\u30d7\u3057\u305f\u540d\u524d\u7a7a\u9593\u3067\u3059\u3002)<\/p>\n
void DummySequence::update()\n{\n    double dt = Time::dt(Time::get(), m_startTime);\n    if (dt > 3.0)\n    {\n        m_rover->setMotorPower(0.0); \/\/ \u505c\u6b62\n    }\n    else if (dt > 2.0)\n    {\n        m_rover->setMotorPower(1.0); \/\/ \u524d\u9032\n    }\n    else if (dt > 1.0)\n    {\n        m_rover->setMotorPower(0.0); \/\/ \u505c\u6b62\n    }\n    else\n    {\n        m_rover->setMotorPower(1.0); \/\/ \u524d\u9032\n    }\n}<\/pre>\n
\u3053\u306e\u3088\u3046\u306b\u3001\u4e0b\u304b\u3089\u9006\u5411\u304d\u306b\u66f8\u304b\u306a\u3044\u3068\u3001\u6761\u4ef6\u5f0f\u3092\u5897\u3084\u3055\u306a\u3044\u3068\u3044\u3051\u306a\u304f\u306a\u3063\u3066\u3057\u307e\u3044\u307e\u3059\u3002<\/p>\n
\u5e78\u3044\u3001\u30ed\u30fc\u30d0\u30fc\u30d7\u30ed\u30b0\u30e9\u30e0\u3067\u306f\u30b9\u30c8\u30c3\u30d7\u30a6\u30a9\u30c3\u30c1\u306e\u6a5f\u80fd\u3092\u679c\u305f\u3059Timer\u30af\u30e9\u30b9\u3068\u3044\u3046\u3082\u306e\u304c\u7528\u610f\u3057\u3066\u3042\u308b\u306e\u3067\u3001\u4ee3\u308f\u308a\u306b\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u66f8\u3051\u307e\u3059\u3002<\/p>\n
void DummySequence::update()\n{\n    if (!m_timer.elapsed(1.0)) \/\/ 0\u301c1\u79d2\n    {\n        m_rover->setMotorPower(1.0); \/\/ \u524d\u9032\n    }\n    else if (!m_timer.elapsed(2.0)) \/\/ 1\u301c2\u79d2\n    {\n        m_rover->setMotorPower(0.0); \/\/ \u505c\u6b62\n    }\n    else if (!m_timer.elapsed(3.0)) \/\/ 2\u301c3\u79d2\n    {\n        m_rover->setMotorPower(1.0); \/\/ \u524d\u9032\n    }\n    else if (!m_timer.elapsed(4.0)) \/\/ 3\u301c4\u79d2\n    {\n        m_rover->setMotorPower(0.0); \/\/ \u505c\u6b62\n    }\n}<\/pre>\n
\u30b3\u30fc\u30c9\u306e\u9806\u756a\u304c\u6642\u7cfb\u5217\u9806\u306b\u306f\u306a\u308a\u307e\u3057\u305f\u304c\u3001\u79d2\u6570\u3092\u793a\u3059\u30b3\u30e1\u30f3\u30c8\u304c\u306a\u3044\u3068\u5206\u304b\u308a\u3065\u3089\u3044\u3067\u3059\u3002<\/p>\n
\u3053\u3053\u3067\u30b3\u30eb\u30fc\u30c1\u30f3\u306e\u51fa\u756a\u3067\u3059\u3002
\nC++20\u306e\u30b3\u30eb\u30fc\u30c1\u30f3\u306f\u307e\u3060\u5168\u7136\u7406\u89e3\u3067\u304d\u3066\u3044\u306a\u3044\u306e\u3067\u3001Unity\u306e\u30b3\u30eb\u30fc\u30c1\u30f3\u6a5f\u80fd\u3092\u771f\u4f3c\u305f\u7591\u4f3c\u30b3\u30fc\u30c9\u3067\u8a18\u8ff0\u3057\u3066\u3044\u307e\u3059\u3002\u3054\u4e86\u627f\u304f\u3060\u3055\u3044\u3002
\n(C++20\u3067\u5b9f\u969b\u306b\u4f7f\u7528\u3055\u308c\u308b\u4e88\u5b9a\u306e\u30ad\u30fc\u30ef\u30fc\u30c9\u306fyield\u3067\u306f\u306a\u304fco_yield\u3067\u3059\u3002)<\/p>\n
my_coroutine DummySequence::run()\n{\n    m_rover->setMotorPower(1.0); \/\/ \u524d\u9032\n    yield WaitForSeconds(1.0); \/\/ 1\u79d2\u5f85\u3064\n    m_rover->setMotorPower(0.0); \/\/ \u505c\u6b62\n    yield WaitForSeconds(1.0); \/\/ 1\u79d2\u5f85\u3064\n    m_rover->setMotorPower(1.0); \/\/ \u524d\u9032\n    yield WaitForSeconds(1.0); \/\/ 1\u79d2\u5f85\u3064\n    m_rover->setMotorPower(0.0); \/\/ \u505c\u6b62\n}<\/pre>\n
\u3053\u3093\u306a\u611f\u3058\u3067\u3001\u30b3\u30eb\u30fc\u30c1\u30f3\u3092\u5229\u7528\u3059\u308b\u3068\u30ed\u30fc\u30d0\u30fc\u30d7\u30ed\u30b0\u30e9\u30e0\u304c\u7c21\u5358\u306b\u66f8\u3051\u308b\u3068\u601d\u3063\u3066\u3044\u307e\u3059\u3002
\n(\u307e\u3042\u3001\u6700\u65b0\u306eC++\u306e\u8fbc\u307f\u5165\u3063\u305f\u6a5f\u80fd\u306f\u5168\u54e1\u304c\u7fd2\u5f97\u3057\u306a\u3044\u3068\u4fdd\u5b88\u7ba1\u7406\u3067\u304d\u306a\u304f\u306a\u3063\u3066\u3057\u307e\u3046\u306e\u3067\u3001C++20\u304c\u51fa\u3066\u3082\u4eca\u306e\u307e\u307e\u306a\u3093\u3067\u3057\u3087\u3046\u3051\u3069\u2026\u3002\u307e\u305f\u3001\u4e26\u884c\u6027\u304c\u7d61\u3093\u3067\u304d\u3066\u30b9\u30ec\u30c3\u30c9\u30bb\u30fc\u30d5\u3058\u3083\u306a\u3044\u95a2\u6570\u3092\u6392\u9664\u3057\u306a\u3044\u3068\u3044\u3051\u306a\u304f\u306a\u308a\u305d\u3046\u3067\u3001\u4fdd\u5b88\u7ba1\u7406\u3082\u3067\u304d\u306a\u3055\u305d\u3046\u2026\u3002)<\/p>\n
\u3068\u308a\u3042\u3048\u305a\u3001C++17\/20\u304c\u604b\u3057\u3044\u65e5\u3005\u3092\u904e\u3054\u3057\u3066\u3044\u307e\u3059\uff01\uff01\u4ee5\u4e0a\u3067\u3059\uff01\uff01
\nARLISS\u672c\u756a\u307e\u3067\u3042\u306810\u65e5\uff01\uff01<\/p>\n","protected":false},"excerpt":{"rendered":"
Sirius\u30c1\u30fc\u30e0 \u30ea\u30fc\u30c0\u30fc\u517c\u30bd\u30d5\u30c8\u73ed\u306e\u7530\u6240\u3067\u3059\u3002 \u79c1\u9054\u306e\u30ed\u30fc\u30d0\u30fc\u306b\u306fRaspberry Pi Ze …<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"om_disable_all_campaigns":false,"_mi_skip_tracking":false,"footnotes":""},"categories":[1],"tags":[],"class_list":["post-1289","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"aioseo_notices":[],"_links":{"self":[{"href":"http:\/\/www.cas.lab.uec.ac.jp\/wordpress\/wp-json\/wp\/v2\/posts\/1289","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/www.cas.lab.uec.ac.jp\/wordpress\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/www.cas.lab.uec.ac.jp\/wordpress\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/www.cas.lab.uec.ac.jp\/wordpress\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/www.cas.lab.uec.ac.jp\/wordpress\/wp-json\/wp\/v2\/comments?post=1289"}],"version-history":[{"count":0,"href":"http:\/\/www.cas.lab.uec.ac.jp\/wordpress\/wp-json\/wp\/v2\/posts\/1289\/revisions"}],"wp:attachment":[{"href":"http:\/\/www.cas.lab.uec.ac.jp\/wordpress\/wp-json\/wp\/v2\/media?parent=1289"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/www.cas.lab.uec.ac.jp\/wordpress\/wp-json\/wp\/v2\/categories?post=1289"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/www.cas.lab.uec.ac.jp\/wordpress\/wp-json\/wp\/v2\/tags?post=1289"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}