怎样在C++程序中编写代码使机器重启，急！！！

2003-07-17 10:07:23 209 阅读 AI 写同款 · GEO 优化AI 选题数据监测一键分发 ›

C++机器人开发：yaml-cpp配置文件实战与ROS参数管理在软件工程中，配置文件是实现参数化设计、提升系统可维护性的核心机制。其原理是将易变的运行参数从固定的程序逻辑中解耦，通过外部文件进行管理，从而实现无需重新编译即可调整程序行为的技术价值。这一设计在机器人开发领域尤为重要，因为机器人系统通常涉及大量需要现场调试的参数，如PID控制系数、传感器标定数据和导航算法阈值。通过采用人类可读性强的YAML格式，结合成熟的C++解析库yaml-cpp，开发者可以构建出支持动态重载、分层管理的健壮配置系统。本文以机器人开发为应用场景，深入探讨了如何利用yaml-cpp进行高阅读详情

怎样在C++程序中编写代码使机器重启。

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在程序中重新启动move_base功能包当前需求：问题出现在《[原创]ROS : 参数服务器之动态调参（dynamic_reconfigure）》测试过程中，从激光雷达数据的角度来看，当临时障碍物与机身相交时，机器人回人为自己被“卡住”，局部规划器规划的速度为0，机器人停止运动；即使更换新的任何目标点，机器人均停止不动；还是当前位置，但是重启整个程序后，设置新的可行的目标点时，机器人能够抵达目标！！！这个重启的本质是重启了... 阅读详情

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切换为时间正序

Siney 2003-07-17

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MSDN里面给出了最新的例子。要提升权限的：
BOOL MySystemShutdown()
{
HANDLE hToken;
TOKEN_PRIVILEGES tkp;

// Get a token for this process.

if (!OpenProcessToken(GetCurrentProcess(),
TOKEN_ADJUST_PRIVILEGES | TOKEN_QUERY, &hToken))
return( FALSE );

// Get the LUID for the shutdown privilege.

LookupPrivilegeValue(NULL, SE_SHUTDOWN_NAME,
&tkp.Privileges[0].Luid);

tkp.PrivilegeCount = 1; // one privilege to set
tkp.Privileges[0].Attributes = SE_PRIVILEGE_ENABLED;

// Get the shutdown privilege for this process.

AdjustTokenPrivileges(hToken, FALSE, &tkp, 0,
(PTOKEN_PRIVILEGES)NULL, 0);

if (GetLastError() != ERROR_SUCCESS)
return FALSE;

// Shut down the system and force all applications to close.
//
//ExitWindowsEx(EWX_FORCE|EWX_REBOOT,0)是重启。
//ExitWindowsEx(EWX_FORCE|EWX_LOGOFF,0);是注销
// EWX_FORCE参数是指强行关闭所有程序，不会弹出任何对话框。
if (!ExitWindowsEx(EWX_SHUTDOWN | EWX_FORCE | EWX_POWEROFF, 0))
return FALSE;

return TRUE;
}

domustdo 2003-07-17

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Nowcan的代码：

#include <windows.h>
#include <stdio.h>
#include <conio.h>

//这个函数用于获得必要的权限。
BOOL EnablePrivilege(LPCTSTR lpSystemName,LPCTSTR lpName)
{
HANDLE hToken;
BOOL fOk=FALSE;
if(OpenProcessToken(GetCurrentProcess(),TOKEN_ADJUST_PRIVILEGES,&hToken))
{
TOKEN_PRIVILEGES tp;
tp.PrivilegeCount=1;
if(!LookupPrivilegeValue(lpSystemName,lpName,&tp.Privileges[0].Luid))
printf("Can't lookup privilege value.\n");
tp.Privileges[0].Attributes=SE_PRIVILEGE_ENABLED;
if(!AdjustTokenPrivileges(hToken,FALSE,&tp,sizeof(tp),NULL,NULL))
printf("Can't adjust privilege value.\n");
fOk=(GetLastError()==ERROR_SUCCESS);
CloseHandle(hToken);
}
return fOk;
}

int main()
{
char msg[256],cname[256];
int timeout;
bool ret;
printf("1----Shut down local computer.\n2----Reboot local computer.\n");
printf("3----Shut down remote computer.\n4----Reboot remote computer.\n\n");

switch(getch())
{
case '1':
printf("Input the message(Max. 255 chars):");
scanf("%s",msg);
printf("Input the timeout value:");
scanf("%d",&timeout);
EnablePrivilege(NULL,SE_SHUTDOWN_NAME);
ret=InitiateSystemShutdown(NULL,msg,timeout,TRUE,FALSE);
//五个参数分别是：1－计算机名，
// 2－提示消息，
// 3－从函数执行到关机的时间（单位是秒），
// 4－是否强制关闭应用程序，
// 5－关机还是重启
break;
case '2':
printf("Input the message(Max. 255 chars):");
scanf("%s",msg);
printf("Input the timeout value:");
scanf("%d",&timeout);
EnablePrivilege(NULL,SE_SHUTDOWN_NAME);
ret=InitiateSystemShutdown(NULL,msg,timeout,TRUE,TRUE);
break;
case '3':
printf("Input the remote computer name:");
scanf("%s",cname);
printf("Input the message(Max. 255 chars):");
scanf("%s",msg);
printf("Input the timeout value:");
scanf("%d",&timeout);
EnablePrivilege(cname,SE_REMOTE_SHUTDOWN_NAME);
ret=InitiateSystemShutdown(cname,msg,timeout,TRUE,FALSE);
break;
case '4':
printf("Input the remote computer name:");
scanf("%s",cname);
printf("Input the message(Max. 255 chars):");
scanf("%s",msg);
printf("Input the timeout value:");
scanf("%d",&timeout);
EnablePrivilege(cname,SE_REMOTE_SHUTDOWN_NAME);
ret=InitiateSystemShutdown(cname,msg,timeout,TRUE,TRUE);
break;
default:
break;
}
if(ret)
printf("\nSuccess!\n");
else
printf("\nFail.\n");
return ret;
}

xuv2002 2003-07-17

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void ReBoot() //重新启动计算机
{
ExitWindowsEx(EWX_FORCE,0);
return;
}

假如是win2k
还必须确保有关机权限
HANDLE hToken;
TOKEN_PRIVILEGES tkp;
if (!OpenProcessToken(GetCurrentProcess(),
TOKEN_ADJUST_PRIVILEGES | TOKEN_QUERY, &hToken))
return false;
LookupPrivilegeValue(NULL, SE_SHUTDOWN_NAME,&tkp.Privileges[0].Luid);
tkp.PrivilegeCount = 1; // one privilege to set
tkp.Privileges[0].Attributes = SE_PRIVILEGE_ENABLED;
AdjustTokenPrivileges(hToken, FALSE, &tkp, 0,
(PTOKEN_PRIVILEGES)NULL, 0);
if (GetLastError() != ERROR_SUCCESS)
return false;

warton 2003-07-17

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he ExitWindows function logs the current user off.

BOOL ExitWindows(

DWORD dwReserved, // reserved
UINT uReserved // reserved
);

Parameters

dwReserved

Reserved; must be zero.

uReserved

Reserved; must be zero.

Return Values

If the function succeeds, the return value is nonzero.
If the function fails, the return value is zero. To get extended error information, call GetLastError.

Remarks

Windows NT: The ExitWindows function asks applications if they want to terminate by sending the WM_QUERYENDSESSION message to the main window of all running applications.
Windows 95: The ExitWindows function sends the WM_QUERYENDSESSION message to all applications except the one that called ExitWindows.
An application agrees to terminate by returning TRUE when it receives this message (or by allowing the DefWindowProc function to process the message). If any application returns FALSE when it receives the WM_QUERYENDSESSION message, the shutdown is canceled.

After Windows processes the results of the WM_QUERYENDSESSION message, it sends the WM_ENDSESSION message with the wParam parameter set to TRUE if the system is shutting down and to FALSE if it is not.
Windows does not allow new applications to start up during the shutdown process.

See Also

DefWindowProc, ExitWindowsEx

怎样在C++程序中编写代码使机器重启，急！！！

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