VSAG/amadeus_26_fb
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Merge remote-tracking branch 'origin/master'

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# Conflicts:
#	tools/bind-monitor.sh
This commit is contained in:
xinyang
2019-05-09 20:18:28 +08:00
parent 52dd50ab60 85e1df61da
commit 15871a9289
4 changed files with 19 additions and 7 deletions
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14
main.cpp
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@@ -30,6 +30,7 @@ int state = ARMOR_STATE;
float curr_yaw = 0, curr_pitch = 0;
float mark_yaw = 0, mark_pitch = 0;
int mark = 0;
bool use_classifier = false;
void uartReceive(Uart *uart);
@@ -72,7 +73,7 @@ int main(int argc, char *argv[]) {
video_energy->read(armor_src);
}
ArmorFinder armorFinder(ENEMY_BLUE, uart, PROJECT_DIR"/tools/para/");
ArmorFinder armorFinder(ENEMY_BLUE, uart, PROJECT_DIR"/tools/para/", use_classifier);
Energy energy(uart);
energy.setAllyColor(ally_color);
@@ -119,6 +120,7 @@ int main(int argc, char *argv[]) {
void uartReceive(Uart *uart) {
char buffer[100];
int cnt = 0;
LOGM("data receive start!");
while (true) {
char data;
while ((data = uart->receive()) != '\n') {
@@ -128,7 +130,8 @@ void uartReceive(Uart *uart) {
cnt = 0;
}
}
if (cnt == 10) {
// LOGM("%d", cnt);
if (cnt == 11) {
if (buffer[8] == 'e') {
state = ENERGY_STATE;
LOG(RECEIVE_LOG_LEVEL, "Energy state");
@@ -136,6 +139,13 @@ void uartReceive(Uart *uart) {
state = ARMOR_STATE;
LOG(RECEIVE_LOG_LEVEL, "Armor state");
}
if (buffer[10] == 0){
use_classifier = false;
LOG(RECEIVE_LOG_LEVEL, "Classifier off!");
} else if(buffer[10] == 1){
use_classifier = true;
LOG(RECEIVE_LOG_LEVEL, "Classifier on!");
}
memcpy(&curr_yaw, buffer, 4);
memcpy(&curr_pitch, buffer + 4, 4);
LOG(RECEIVE_LOG_LEVEL, "Get yaw:%f pitch:%f", curr_yaw, curr_pitch);