From 04c7eea9e0fcb9213cd5617882f282096667cc2b Mon Sep 17 00:00:00 2001
From: sun <SJT_sjtu1998@163.con>
Date: Sun, 4 Aug 2019 01:44:30 +0800
Subject: [PATCH] energy changed

---
 energy/include/energy/energy.h  |  1 +
 energy/src/energy/run.cpp       | 11 ++++++++---
 energy/src/energy/show/show.cpp | 26 ++++++++++++++++++++++++++
 main.cpp                        |  2 +-
 4 files changed, 36 insertions(+), 4 deletions(-)

diff --git a/energy/include/energy/energy.h b/energy/include/energy/energy.h
index ecc2400..14f27cb 100644
--- a/energy/include/energy/energy.h
+++ b/energy/include/energy/energy.h
@@ -144,6 +144,7 @@ private:
     void showFans(std::string windows_name, const cv::Mat src);//显示扇叶
     void showArmors(std::string windows_name, const cv::Mat src);//显示装甲板
     void showBoth(std::string windows_name, const cv::Mat src);//显示扇叶和装甲板
+    void showTarget(std::string windows_name, const cv::Mat src);//显示目标装甲板
     void showCenterR(std::string windows_name, const cv::Mat src);//显示风车中心候选区R
     void showFlowStrip(std::string windows_name, const cv::Mat src);//显示流动条
     void showFlowStripFan(std::string windows_name, const cv::Mat src);//显示流动条所在扇叶
diff --git a/energy/src/energy/run.cpp b/energy/src/energy/run.cpp
index ee6b748..0eaa6e2 100644
--- a/energy/src/energy/run.cpp
+++ b/energy/src/energy/run.cpp
@@ -120,9 +120,14 @@ void Energy::runSmall(cv::Mat &gimbal_src) {
     if (show_process)imshow("bin", gimbal_src);
     if (findArmors(gimbal_src) < 1)return;
     if (show_energy)showArmors("armor", gimbal_src);
-    if (!findFlowStripFan(gimbal_src))return;
-    if (!findTargetInFlowStripFan()) return;
-    if (!findFlowStrip(gimbal_src))return;
+    if (!findFlowStripFan(gimbal_src)) {
+        if (!findFlowStripWeak(gimbal_src))return;
+    } else {
+        if (show_energy)showFlowStripFan("strip fan", gimbal_src);
+        if (!findTargetInFlowStripFan()) return;
+        if (!findFlowStrip(gimbal_src))return;
+    }
+    if(show_energy)showTarget("target", gimbal_src);
 
 //    getCenter();
 //    sendEnergy();
diff --git a/energy/src/energy/show/show.cpp b/energy/src/energy/show/show.cpp
index c7418f0..23a8205 100644
--- a/energy/src/energy/show/show.cpp
+++ b/energy/src/energy/show/show.cpp
@@ -98,6 +98,32 @@ void Energy::showBoth(std::string windows_name, const cv::Mat src) {
 }
 
 
+//----------------------------------------------------------------------------------------------------------------------
+// 此函数用于显示图像中目标装甲板
+// ---------------------------------------------------------------------------------------------------------------------
+void Energy::showTarget(std::string windows_name, const cv::Mat src) {
+    if (src.empty())return;
+    static Mat image2show;
+
+    if (src.type() == CV_8UC1) // 黑白图像
+    {
+        cvtColor(src, image2show, COLOR_GRAY2RGB);
+
+    } else if (src.type() == CV_8UC3) //RGB 彩色
+    {
+        image2show = src.clone();
+    }
+    for (const auto &armor : armors) {
+        if (pointDistance(armor.center, target_point) < energy_part_param_.TWIN_POINT_MAX) {
+            Point2f vertices[4];      //定义矩形的4个顶点
+            armor.points(vertices);   //计算矩形的4个顶点
+            for (int i = 0; i < 4; i++)
+                line(image2show, vertices[i], vertices[(i + 1) % 4], Scalar(255, 255, 0), 2);
+        }
+    }
+    imshow(windows_name, image2show);
+}
+
 //----------------------------------------------------------------------------------------------------------------------
 // 此函数用于显示图像中所有可能的风车中心候选区R
 // ---------------------------------------------------------------------------------------------------------------------
diff --git a/main.cpp b/main.cpp
index 49b87b4..590ead8 100644
--- a/main.cpp
+++ b/main.cpp
@@ -30,7 +30,7 @@ using namespace std;
 mcu_data mcuData = {    // 单片机端回传结构体
         0,              // 当前云台yaw角
         0,              // 当前云台pitch角
-        BIG_ENERGY_STATE,    // 当前状态，自瞄-大符-小符
+        SMALL_ENERGY_STATE,    // 当前状态，自瞄-大符-小符
         0,              // 云台角度标记位
         1,              // 是否启用数字识别
         ENEMY_RED,      // 敌方颜色