格式修正

src/MindVisionMain.cpp

@@ -30,8 +30,14 @@ void output_control_data(const cv::Point2f* ballistic_point,
         std::ostringstream send_str;
 
         // Calculate offset (based on actual image center)
-        int ballistic_offset_x = static_cast<int>(ballistic_point->x - img_center.x);
-        int ballistic_offset_y = static_cast<int>(img_center.y - ballistic_point->y);
+        int ballistic_offset_x = -static_cast<int>(ballistic_point->x - img_center.x);
+        if ( abs(ballistic_offset_x) > 320){
+            ballistic_offset_x = ( ballistic_offset_x / abs( ballistic_offset_x ) ) * 320 ;
+        }
+        int ballistic_offset_y = -static_cast<int>(img_center.y - ballistic_point->y);
+        if ( abs(ballistic_offset_y) > 180 ) {
+            ballistic_offset_y = ( ballistic_offset_x / abs( ballistic_offset_x ) ) * 180 ;
+        }
 
         // Color simplification mapping
         std::string simplified_color = target_color;
@@ -39,7 +45,7 @@ void output_control_data(const cv::Point2f* ballistic_point,
         else if (target_color == "blue") simplified_color = "b";
 
         // Construct send string
-        send_str << "s " << simplified_color << " " << std::to_string(ballistic_offset_x) << " " << std::to_string(ballistic_offset_y) << "\n";
+        send_str << "#s " << simplified_color << " " << std::to_string(ballistic_offset_x) << " " << std::to_string(ballistic_offset_y) << "*\n";
 
         // Send data
         if (ttl_communicator != nullptr) {
@@ -72,15 +78,7 @@ int main(int /*argc*/, char* /*argv*/[]) {
 
     if (Numbe == 0) {
         // 执行 shell 命令（注意安全风险！）
-        int result = std::system("soude chmod 777 /dev/tty*");
-
-        // 可选：检查命令是否成功执行
-        if (result == -1) {
-            std::cerr << "Failed to execute system command.\n";
-        } else {
-            std::cout << "Permissions updated (if any tty devices exist).\n";
-        }
-
+        std::system("sudo chmod 777 /dev/tty*");
         Numbe++;
     }