From 1070c5caa789a2686366157666cda91754a5ca30 Mon Sep 17 00:00:00 2001
From: xinyang <txy15436@gmail.com>
Date: Sun, 14 Apr 2019 19:32:29 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BD=BF=E7=94=A8=E5=91=BD=E4=BB=A4=E8=A1=8C?=
 =?UTF-8?q?=E5=8F=82=E6=95=B0?=
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---
 main.cpp                      |  5 +++--
 src/camera/camera_wrapper.cpp | 16 ++++++++--------
 2 files changed, 11 insertions(+), 10 deletions(-)

diff --git a/main.cpp b/main.cpp
index 96002df..8a9a067 100644
--- a/main.cpp
+++ b/main.cpp
@@ -103,8 +103,9 @@ void uartReceive(Uart* uart){
         }else if(cnt==1 && buffer[0]=='a'){
             state = ARMOR_STATE;
             LOGM("State switch to armor!");
-        }else{
-            sscanf(buffer, "%f %f", &yaw, &pitch);
+        }else if(cnt==8){
+            memcpy(&yaw, buffer, 4);
+            memcpy(&pitch, buffer+4, 4);
             LOGM("Get yaw:%f pitch:%f", yaw, pitch);
         }
         cnt = 0;
diff --git a/src/camera/camera_wrapper.cpp b/src/camera/camera_wrapper.cpp
index d6adb57..4802ab9 100644
--- a/src/camera/camera_wrapper.cpp
+++ b/src/camera/camera_wrapper.cpp
@@ -62,16 +62,16 @@ bool CameraWrapper::init() {
         return false;
     }
 
-        CameraGetFriendlyName(h_camera0, camera_name0);
-        CameraGetFriendlyName(h_camera1, camera_name1);
-        cout<<"camera names: "<<camera_name0<<" "<<camera_name1<<endl;
+    CameraGetFriendlyName(h_camera0, camera_name0);
+    CameraGetFriendlyName(h_camera1, camera_name1);
+    cout<<"camera names: "<<camera_name0<<" "<<camera_name1<<endl;
 //        cout<<camera_name0<<endl;
 //        cout<<camera_name1<<endl;
-    //如果读取的相机列表不是0在左，1在右，则交换相机句柄
-//    if(strcmp(camera_name0, "camera0") != 0)
-//    {
-//        swapCameraHandle();
-//    }
+    //如果读取的相机列表不是energy在左，armor在右，则交换相机句柄
+    if(strcmp(camera_name0, "armor") != 0)
+    {
+        swapCameraHandle();
+    }
 
     //获得相机的特性描述结构体。该结构体中包含了相机可设置的各种参数的范围信息。决定了相关函数的参数
     CameraGetCapability(h_camera0, &tCapability0);