fallback CMake + Armor PID

others/include/camera/camera_wrapper.h

@@ -19,9 +19,9 @@ class CameraWrapper: public WrapperHead {
     friend void cameraCallback(CameraHandle hCamera, BYTE *pFrameBuffer, tSdkFrameHead* pFrameHead,PVOID pContext);
 private:
     const std::string name;
-    int mode;
+    //int mode;
 
-    bool init_done;
+    //bool init_done;
 
     unsigned char* rgb_buffer;
     int camera_cnts;
@@ -40,6 +40,9 @@ private:
 public:
     int gain;
     int exposure;
+    
+    int mode;
+    bool init_done;
 
     CameraWrapper(int exposure, int gain, int camera_mode=1, const std::string &n="NULL");
     ~CameraWrapper() final;

others/src/additions.cpp

@@ -77,8 +77,12 @@ bool checkReconnect(bool is_camera_connect) {
     if (!is_camera_connect) {
         int curr_gain = ((CameraWrapper* )video)->gain;
         int curr_exposure = ((CameraWrapper* )video)->exposure;
+        int curr_mode = ((CameraWrapper* )video)->mode; // 获取原始模式
+        
         delete video;
-        video = new CameraWrapper(curr_exposure, curr_gain, 0/*, "armor"*/);
+        std::this_thread::sleep_for(std::chrono::milliseconds(500)); // 等待硬件释放
+        video = new CameraWrapper(curr_exposure, curr_gain, curr_mode/*, "armor"*/);
+        //video = new CameraWrapper(curr_exposure, curr_gain, 0/*, "armor"*/);
         is_camera_connect = video->init();
     }
     return is_camera_connect;

others/src/camera/camera_wrapper.cpp

@@ -38,6 +38,7 @@ bool CameraWrapper::init() {
     int camera_enumerate_device_status = CameraEnumerateDevice(camera_enum_list, &camera_cnts);
     if (camera_enumerate_device_status != CAMERA_STATUS_SUCCESS) {
         LOGE("CameraEnumerateDevice fail with %d!", camera_enumerate_device_status);
+        return false;
     }
     if (camera_cnts == 0) {
         LOGE("No camera device detected!");

others/src/options.cpp

@@ -14,7 +14,7 @@ bool show_light_blobs = false;
 bool show_origin = false;
 bool run_with_camera = true;
 bool save_video = false;
-bool wait_uart = true;
+bool wait_uart = false;
 bool save_labelled_boxes = false;
 bool show_process = false;
 bool show_energy = false;