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energy change

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This commit is contained in:
sun
2019-07-17 16:15:34 +08:00
parent 6e87cfe4db
commit 3258c85888
4 changed files with 56 additions and 12 deletions
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6
energy/include/energy/energy.h
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@@ -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 run(cv::Mat &gimbal_src);
void runBig(cv::Mat &gimbal_src, cv::Mat &chassis_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);

29
energy/src/energy/energy.cpp
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@@ -45,3 +45,32 @@ void Energy::setEnergyInit() {
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;
}

9
energy/src/energy/run.cpp
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@@ -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);

24
main.cpp
View File

@@ -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 (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 (mcuData.state == BIG_ENERGY_STATE) {//大能量机关模式
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.run(gimbal_src);
energy.runBig(gimbal_src, chassis_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) {