energy change

energy/include/energy/energy.h

@@ -27,12 +27,14 @@ public:
     Energy(Serial &u, uint8_t &color);//构造函数，参数为串口和敌方颜色
     ~Energy();//默认析构函数
 
-    void run(cv::Mat &gimbal_src, cv::Mat &chassis_src);
+    void runBig(cv::Mat &gimbal_src, cv::Mat &chassis_src);
-    void run(cv::Mat &gimbal_src);
+    void runBig(cv::Mat &gimbal_src);
     void runSmall(cv::Mat &gimbal_src);
 
     Serial &serial;//串口
     void setEnergyInit();//设置能量机关初始化
+    void setBigEnergyInit();//设置大能量机关初始化
+    void setSmallEnergyInit();//设置小能量机关初始化
     void sendTarget(Serial &serial, float x, float y, float z);
 
 

energy/src/energy/energy.cpp

@@ -44,4 +44,33 @@ void Energy::setEnergyInit() {
     is_small = false;
     is_gimbal = true;
     is_chassis = false;
+}
+
+
+//----------------------------------------------------------------------------------------------------------------------
+// 此函数为大能量机关再初始化函数
+// ---------------------------------------------------------------------------------------------------------------------
+void Energy::setBigEnergyInit() {
+    initEnergy();
+    initEnergyPartParam();
+
+    is_big = true;
+    is_small = false;
+    is_gimbal = true;
+    is_chassis = false;
+}
+
+
+
+//----------------------------------------------------------------------------------------------------------------------
+// 此函数为大能量机关再初始化函数
+// ---------------------------------------------------------------------------------------------------------------------
+void Energy::setSmallEnergyInit() {
+    initEnergy();
+    initEnergyPartParam();
+
+    is_big = false;
+    is_small = true;
+    is_gimbal = true;
+    is_chassis = false;
 }

energy/src/energy/run.cpp

@@ -12,9 +12,9 @@ using namespace cv;
 //----------------------------------------------------------------------------------------------------------------------
 // 此函数为能量机关模式主控制流函数，且步兵需要同时拥有云台摄像头和底盘摄像头
 // ---------------------------------------------------------------------------------------------------------------------
-void Energy::run(cv::Mat &gimbal_src, cv::Mat &chassis_src) {
+void Energy::runBig(cv::Mat &gimbal_src, cv::Mat &chassis_src) {
     if (chassis_src.empty())
-        run(gimbal_src);//仅拥有云台摄像头则调用单摄像头的run函数
+        runBig(gimbal_src);//仅拥有云台摄像头则调用单摄像头的run函数
     else if (is_gimbal) {
         energy_part_param_ = gimbal_energy_part_param_;
         clearAll();
@@ -82,7 +82,7 @@ void Energy::run(cv::Mat &gimbal_src, cv::Mat &chassis_src) {
 //----------------------------------------------------------------------------------------------------------------------
 // 此函数为能量机关模式主控制流函数，且步兵仅拥有云台摄像头
 // ---------------------------------------------------------------------------------------------------------------------
-void Energy::run(cv::Mat &gimbal_src) {
+void Energy::runBig(cv::Mat &gimbal_src) {
     energy_part_param_ = gimbal_energy_part_param_;
     clearAll();
     initImage(gimbal_src);
@@ -127,11 +127,10 @@ void Energy::run(cv::Mat &gimbal_src) {
 }
 
 
-
 //----------------------------------------------------------------------------------------------------------------------
 // 此函数为小能量机关模式主控制流函数，击打小符只需要拥有云台摄像头
 // ---------------------------------------------------------------------------------------------------------------------
-void Energy::runSmall(cv::Mat &gimbal_src){
+void Energy::runSmall(cv::Mat &gimbal_src) {
     energy_part_param_ = gimbal_energy_part_param_;
     clearAll();
     initImage(gimbal_src);

main.cpp

@@ -92,11 +92,11 @@ int main(int argc, char *argv[]) {
         cout << "start running" << endl;
         do {
             CNT_TIME("Total", {
-                if (mcuData.state != ARMOR_STATE) {//能量机关模式
+                if (mcuData.state == BIG_ENERGY_STATE) {//大能量机关模式
-                    if (last_state == ARMOR_STATE) {//若上一帧是自瞄模式，即刚往完成切换，则需要初始化
+                    if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化
                         destroyAllWindows();
                         ((CameraWrapper *) video_gimbal)->changeBrightness(ENERGY_CAMERA_GAIN);
-                        energy.setEnergyInit();
+                        energy.setBigEnergyInit();
                         checkReconnect(video_chassis->read(chassis_src));
 #ifdef CHASSIS_FLIP_MODE
                         flip(chassis_src, chassis_src, CHASSIS_FLIP_MODE);
@@ -110,8 +110,22 @@ int main(int argc, char *argv[]) {
                     if (!from_camera) extract(gimbal_src, chassis_src);
                     if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频
                     if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像
-//                    energy.run(gimbal_src, chassis_src);
+                    energy.runBig(gimbal_src, chassis_src);
-                    energy.run(gimbal_src);
+                    last_state = mcuData.state;//更新上一帧状态
+                } else if (mcuData.state == SMALL_ENERGY_STATE) {
+                    if (mcuData.state != SMALL_ENERGY_STATE) {
+                        destroyAllWindows();
+                        ((CameraWrapper *) video_gimbal)->changeBrightness(ENERGY_CAMERA_GAIN);
+                        energy.setSmallEnergyInit();
+                    }
+                    ok = checkReconnect(video_gimbal->read(gimbal_src));
+#ifdef GIMBAL_FLIP_MODE
+                    flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
+#endif
+                    if (!from_camera) extract(gimbal_src);
+                    if (save_video) saveVideos(gimbal_src);//保存视频
+                    if (show_origin) showOrigin(gimbal_src);//显示原始图像
+                    energy.runSmall(gimbal_src);
                     last_state = mcuData.state;//更新上一帧状态
                 } else {                                         // 自瞄模式
                     if (last_state != ARMOR_STATE) {