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ROS参数服务器(Param):通信模型、Hello World与拓展

狗啃月亮_Rachel 2023-11-21 阅读 23

1. C#在托盘显示图标
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
namespace notifyIconShow
{
 public partial class notifyIconShow : Form
 {
  public notifyIconShow()
  {
   InitializeComponent();
  }
  #region//设置鼠标放在托盘图标上面的文字
  /// <summary>
  /// </summary>
  /// <param name="sender"></param>
  /// <param name="e"></param>
  private void notifyIconShow_Load(object sender, EventArgs e)
  {
   //设置鼠标放在托盘图标上面的文字
   this.notifyIcon1.Text = "心语托盘图标";
  }
  #endregion
  #region//创建对象及声明变量
  //创建NotifyIcon对象
  NotifyIcon notifyicon = new NotifyIcon();
  //创建托盘图标对象
  Icon ico = new Icon("Clock2.ico");
  //创建托盘菜单对象
  ContextMenu notifyContextMenu = new ContextMenu();
  #endregion
  #region//隐藏任务栏图标,显示托盘图标
  /// <summary>
  /// 方法名称:notifyIconShow_SizeChanged(窗体大小改变后事件)
  /// 方法作用:隐藏任务栏图标,显示托盘图标
  /// 完成日期:2010年5月16日
  /// 作者:心语
  /// </summary>
  /// <param name="sender"></param>
  /// <param name="e"></param>
  private void notifyIconShow_SizeChanged(object sender, EventArgs e)
  {
   //判断是否选择的是最小化按钮
   if (WindowState == FormWindowState.Minimized)
   {
    //托盘显示图标等于托盘图标对象
    //注意notifyIcon1是控件的名字而不是对象的名字
    notifyIcon1.Icon = ico;
    //隐藏任务栏区图标
    this.ShowInTaskbar = false;
    //图标显示在托盘区
    notifyicon.Visible = true;
   }
  }
  #endregion
  #region//还原窗体
  /// <summary>
  /// 方法名称:notifyIcon1_Click(托盘图标单击)
  /// 方法作用:还原窗体
  /// 完成日期:2010年5月16日
  /// 作者:心语
  /// </summary>
  /// <param name="sender"></param>
  /// <param name="e"></param>
  private void notifyIcon1_Click(object sender, EventArgs e)
  {
   //判断是否已经最小化于托盘
   if (WindowState == FormWindowState.Minimized)
   {
    //还原窗体显示
    WindowState = FormWindowState.Normal;
    //激活窗体并给予它焦点
    this.Activate();
    //任务栏区显示图标
    this.ShowInTaskbar = true;
    //托盘区图标隐藏
    notifyicon.Visible = false;
   }
  }
  #endregion
 }
}

2. C#求最小公倍数

class Program
{
  static void Main(string[] args)
  {
   int n = m(20, 15);
   System.Console.WriteLine("最小公倍数为:" + n.ToString());
   System.Console.Read();
  }
  static int f(int a, int b)//最大公约数
  {
   if (a < b) { a = a + b; b = a - b; a = a - b; }
   return (a % b == 0) ? b : f(a % b, b);
  }
  static int m(int a, int b)//最小公倍数
  {
   return a * b / f(a, b);
  }
}


3. C#汉字转拼音
/// <summary>
/// 把汉字转换成拼音(全拼)
/// </summary>
/// <param name="hzString">汉字字符串</param>
/// <returns>转换后的拼音(全拼)字符串</returns>
public static string ConvertE(string hzString)
{
 // 匹配中文字符
 Regex regex = new Regex("^[\u4e00-\u9fa5]$");
 byte[] array = new byte[2];
 string pyString = "";
 int chrAsc = 0;
 int i1 = 0;
 int i2 = 0;
 char[] noWChar = hzString.ToCharArray();
 for (int j = 0; j < noWChar.Length; j++)
 {
  // 中文字符
  if (regex.IsMatch(noWChar[j].ToString()))
  {
   array = System.Text.Encoding.Default.GetBytes(noWChar[j].ToString());
   i1 = (short)(array[0]);
   i2 = (short)(array[1]);
   chrAsc = i1 * 256 + i2 - 65536;
   if (chrAsc > 0 && chrAsc < 160)
   {
    pyString += noWChar[j];
   }
   else
   {
    // 修正部分文字
    if (chrAsc == -9254) // 修正“圳”字
     pyString += "Zhen";
    else
    {
     for (int i = (pyValue.Length - 1); i >= 0; i--)
     {
      if (pyValue[i] <= chrAsc)
      {
       pyString += pyName[i];
       break;
      }
     }
    }
   }
  }
  // 非中文字符
  else
  {
   pyString += noWChar[j].ToString();
  }
 }
 return pyString;
}
private static int[] pyValue = new int[]
{
 -20319,-20317,-20304,-20295,-20292,-20283,-20265,-20257,-20242,-20230,-20051,-20036,
 -20032,-20026,-20002,-19990,-19986,-19982,-19976,-19805,-19784,-19775,-19774,-19763,
 -19756,-19751,-19746,-19741,-19739,-19728,-19725,-19715,-19540,-19531,-19525,-19515,
 -19500,-19484,-19479,-19467,-19289,-19288,-19281,-19275,-19270,-19263,-19261,-19249,
 -19243,-19242,-19238,-19235,-19227,-19224,-19218,-19212,-19038,-19023,-19018,-19006,
 -19003,-18996,-18977,-18961,-18952,-18783,-18774,-18773,-18763,-18756,-18741,-18735,
 -18731,-18722,-18710,-18697,-18696,-18526,-18518,-18501,-18490,-18478,-18463,-18448,
 -18447,-18446,-18239,-18237,-18231,-18220,-18211,-18201,-18184,-18183, -18181,-18012,
 -17997,-17988,-17970,-17964,-17961,-17950,-17947,-17931,-17928,-17922,-17759,-17752,
 -17733,-17730,-17721,-17703,-17701,-17697,-17692,-17683,-17676,-17496,-17487,-17482,
 -17468,-17454,-17433,-17427,-17417,-17202,-17185,-16983,-16970,-16942,-16915,-16733,
 -16708,-16706,-16689,-16664,-16657,-16647,-16474,-16470,-16465,-16459,-16452,-16448,
 -16433,-16429,-16427,-16423,-16419,-16412,-16407,-16403,-16401,-16393,-16220,-16216,
 -16212,-16205,-16202,-16187,-16180,-16171,-16169,-16158,-16155,-15959,-15958,-15944,
 -15933,-15920,-15915,-15903,-15889,-15878,-15707,-15701,-15681,-15667,-15661,-15659,
 -15652,-15640,-15631,-15625,-15454,-15448,-15436,-15435,-15419,-15416,-15408,-15394,
 -15385,-15377,-15375,-15369,-15363,-15362,-15183,-15180,-15165,-15158,-15153,-15150,
 -15149,-15144,-15143,-15141,-15140,-15139,-15128,-15121,-15119,-15117,-15110,-15109,
 -14941,-14937,-14933,-14930,-14929,-14928,-14926,-14922,-14921,-14914,-14908,-14902,
 -14894,-14889,-14882,-14873,-14871,-14857,-14678,-14674,-14670,-14668,-14663,-14654,
 -14645,-14630,-14594,-14429,-14407,-14399,-14384,-14379,-14368,-14355,-14353,-14345,
 -14170,-14159,-14151,-14149,-14145,-14140,-14137,-14135,-14125,-14123,-14122,-14112,
 -14109,-14099,-14097,-14094,-14092,-14090,-14087,-14083,-13917,-13914,-13910,-13907,
 -13906,-13905,-13896,-13894,-13878,-13870,-13859,-13847,-13831,-13658,-13611,-13601,
 -13406,-13404,-13400,-13398,-13395,-13391,-13387,-13383,-13367,-13359,-13356,-13343,
 -13340,-13329,-13326,-13318,-13147,-13138,-13120,-13107,-13096,-13095,-13091,-13076,
 -13068,-13063,-13060,-12888,-12875,-12871,-12860,-12858,-12852,-12849,-12838,-12831,
 -12829,-12812,-12802,-12607,-12597,-12594,-12585,-12556,-12359,-12346,-12320,-12300,
 -12120,-12099,-12089,-12074,-12067,-12058,-12039,-11867,-11861,-11847,-11831,-11798,
 -11781,-11604,-11589,-11536,-11358,-11340,-11339,-11324,-11303,-11097,-11077,-11067,
 -11055,-11052,-11045,-11041,-11038,-11024,-11020,-11019,-11018,-11014,-10838,-10832,
 -10815,-10800,-10790,-10780,-10764,-10587,-10544,-10533,-10519,-10331,-10329,-10328,
 -10322,-10315,-10309,-10307,-10296,-10281,-10274,-10270,-10262,-10260,-10256,-10254
};
private static string[] pyName = new string[]
{
 "A","Ai","An","Ang","Ao","Ba","Bai","Ban","Bang","Bao","Bei","Ben",
 "Beng","Bi","Bian","Biao","Bie","Bin","Bing","Bo","Bu","Ba","Cai","Can",
 "Cang","Cao","Ce","Ceng","Cha","Chai","Chan","Chang","Chao","Che","Chen","Cheng",
 "Chi","Chong","Chou","Chu","Chuai","Chuan","Chuang","Chui","Chun","Chuo","Ci","Cong",
 "Cou","Cu","Cuan","Cui","Cun","Cuo","Da","Dai","Dan","Dang","Dao","De",
 "Deng","Di","Dian","Diao","Die","Ding","Diu","Dong","Dou","Du","Duan","Dui",
 "Dun","Duo","E","En","Er","Fa","Fan","Fang","Fei","Fen","Feng","Fo",
 "Fou","Fu","Ga","Gai","Gan","Gang","Gao","Ge","Gei","Gen","Geng","Gong",
 "Gou","Gu","Gua","Guai","Guan","Guang","Gui","Gun","Guo","Ha","Hai","Han",
 "Hang","Hao","He","Hei","Hen","Heng","Hong","Hou","Hu","Hua",&#

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