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some refactor

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xinyang
2019-05-17 22:52:35 +08:00
parent 77a58511c9
commit 424cc724d8
13 changed files with 212 additions and 197 deletions
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263
main.cpp
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@@ -4,7 +4,6 @@
#include <iostream>
#include <opencv2/core/core.hpp>
#include <fstream>
#include <energy/energy.h>
#include <serial/serial.h>
#include <energy/param_struct_define.h>
@@ -14,84 +13,44 @@
#include <camera/wrapper_head.h>
#include <armor_finder/armor_finder.h>
#include <options/options.h>
#include <additions/additions.h>
#include <thread>
#define DO_NOT_CNT_TIME
#include <log.h>
#define ENERGY_STATE 1
#define ARMOR_STATE 0
#define ENERGY_STATE 'e'
#define ARMOR_STATE 'a'
using namespace cv;
using namespace std;
int state = ENERGY_STATE;
float curr_yaw = 0, curr_pitch = 0;
float mark_yaw = 0, mark_pitch = 0;
int mark = 0;
EnemyColor enemy_color = ENEMY_BLUE;
int ally_color = ALLY_RED;
bool use_classifier = true;
void uartReceive(Serial *uart);
mcu_data mcuData = {
.curr_yaw = 0,
.curr_pitch = 0,
.state = ENERGY_STATE,
.mark = 0,
.use_classifier = 0,
.enemy_color = ENEMY_BLUE
};
int main(int argc, char *argv[]) {
process_options(argc, argv);
Serial uart(115200);
thread receive(uartReceive, &uart);
bool flag = true;
Serial serial(115200);
thread receive(uartReceive, &serial);
while (flag) {
int from_camera = 1;
if (!run_with_camera) {
cout << "Input 1 for camera, 0 for video files" << endl;
cin >> from_camera;
}
while (true) {
VideoWriter armor_video_writer, energy_video_writer;
if (state == ARMOR_STATE) {
string armor_filename_prefix = "../armor_video/";
ifstream in_1(armor_filename_prefix + "cnt.txt");
int cnt_1 = 0;
if (in_1.is_open())
{
in_1 >> cnt_1;
in_1.close();
}
string armor_file_name = armor_filename_prefix + std::to_string(cnt_1) + ".avi";
//cout << "recording video to " << armor_file_name << endl;
cnt_1++;
ofstream out_1(armor_filename_prefix + "cnt.txt");
if (out_1.is_open()) {
out_1 << cnt_1 << endl;
out_1.close();
}
armor_video_writer.open(armor_file_name, CV_FOURCC('P', 'I', 'M', '1'), 90, cv::Size(640, 480), true);
}
if (state == ENERGY_STATE) {
string energy_filename_prefix = "../energy_video/";
ifstream in_2(energy_filename_prefix + "cnt.txt");
int cnt_2 = 0;
if (in_2.is_open())
{
in_2 >> cnt_2;
in_2.close();
}
string energy_file_name = energy_filename_prefix + std::to_string(cnt_2) + ".avi";
//cout << "recording video to " << armor_file_name << endl;
cnt_2++;
ofstream out_2(energy_filename_prefix + "cnt.txt");
if (out_2.is_open()) {
out_2 << cnt_2 << endl;
out_2.close();
}
energy_video_writer.open(energy_file_name, CV_FOURCC('P', 'I', 'M', '1'), 90, cv::Size(640, 480), false);
}
int energy_part_rotation = CLOCKWISE;
int from_camera = 1;
if (!run_with_camera) {
cout << "Input 1 for camera, 0 for video files" << endl;
cin >> from_camera;
if (save_video) {
initVideoWriter(armor_video_writer, PROJECT_DIR"/armor_video/");
initVideoWriter(energy_video_writer, PROJECT_DIR"/energy_video/");
}
WrapperHead *video_armor;
@@ -100,128 +59,100 @@ int main(int argc, char *argv[]) {
video_armor = new CameraWrapper(0, "armor");
video_energy = new CameraWrapper(1, "energy");
} else {
video_armor = new VideoWrapper("r_l_640.avi");
video_energy = new VideoWrapper("r_l_640.avi");
video_armor = new VideoWrapper("/home/xinyang/Desktop/DataSets/video/blue_4.mp4");
video_energy = new VideoWrapper("/home/xinyang/Desktop/DataSets/video/blue_4.mp4");
}
if (video_armor->init() && video_energy->init()) {
cout << "Video source initialization successfully." << endl;
if (video_armor->init()) {
LOGM("video_armor source initialization successfully.");
} else {
LOGW("video_armor source unavailable!");
delete video_armor;
video_armor = nullptr;
}
if (video_energy->init()) {
LOGM("video_energy source initialization successfully.");
} else {
LOGW("video_energy source unavailable!");
delete video_energy;
cout << "Program fails. Restarting" << endl;
continue;
video_energy = nullptr;
}
Mat energy_src, armor_src;
for(int i=0; i<10; i++){
video_armor->read(armor_src);
video_energy->read(armor_src);
for (int i = 0; i < 10; i++) {
if (video_armor) {
video_armor->read(armor_src);
}
if (video_energy) {
video_energy->read(armor_src);
}
}
ArmorFinder armorFinder(enemy_color, uart, PROJECT_DIR"/tools/para/", use_classifier);
ArmorFinder armorFinder(mcuData.enemy_color, serial, PROJECT_DIR"/tools/para/", mcuData.use_classifier);
Energy energy(uart, ally_color);
Energy energy(serial, mcuData.enemy_color);
// energy.setAllyColor(ally_color);
energy.setRotation(energy_part_rotation);
energy.setRotation(CLOCKWISE);
bool ok = video_armor->read(armor_src) && video_energy->read(armor_src);
while (ok) {
bool ok = true;
do {
CNT_TIME("Total", {
if (state == ENERGY_STATE) {
ok = video_energy->read(energy_src);
energy_video_writer.write(energy_src);
if (show_origin) {
imshow("energy src", energy_src);
if (mcuData.state == ENERGY_STATE) {
if (video_energy) {
ok = video_energy->read(energy_src);
if (!ok) {
delete video_energy;
video_energy = nullptr;
}
if(save_video){
energy_video_writer.write(energy_src);
}
if (show_origin) {
imshow("energy src", energy_src);
}
if (from_camera == 0) {
energy.extract(energy_src);
}
energy.run(energy_src);
} else {
video_energy = new CameraWrapper(1, "energy");
if(!video_energy->init()){
delete video_energy;
video_energy = nullptr;
}
}
if (from_camera == 0) {
energy.extract(energy_src);
} else if (mcuData.state == ARMOR_STATE) {
if (video_armor) {
ok = video_armor->read(armor_src);
if (!ok) {
delete video_armor;
video_armor = nullptr;
}
if(save_video){
armor_video_writer.write(armor_src);
}
flip(armor_src, armor_src, 0);
if (show_origin) {
imshow("armor src", armor_src);
}
CNT_TIME("Armor Time", {
armorFinder.run(armor_src);
});
} else {
video_armor = new CameraWrapper(0, "armor");
if(!video_armor->init()){
delete video_armor;
video_armor = nullptr;
}
}
energy.run(energy_src);
} else {
ok = video_armor->read(armor_src);
armor_video_writer.write(armor_src);
flip(armor_src, armor_src, 0);
if (show_origin) {
imshow("armor src", armor_src);
}
CNT_TIME("Armor Time", {
armorFinder.run(armor_src);
});
}
if (waitKey(1) == 'q') {
flag = false;
break;
}
});
}
} while (ok);
delete video_armor;
delete video_energy;
cout << "Program fails. Restarting" << endl;
}
return 0;
}
#define RECEIVE_LOG_LEVEL LOG_NOTHING
char uartReadByte(Serial &uart) {
char byte;
if (uart.ReadData((uint8_t*)&byte, 1) == false) {
LOGE("serial error!");
}
return byte;
}
void uartReceive(Serial* uart) {
char buffer[100];
int cnt = 0;
LOGM("data receive start!");
while (true) {
char data;
while ((data = uartReadByte(*uart)) != '\n') {
buffer[cnt++] = data;
if (cnt >= 100) {
LOG(RECEIVE_LOG_LEVEL, "data receive over flow!");
cnt = 0;
}
}
if (cnt == 12) {
if (buffer[8] == 'e') {
state = ENERGY_STATE;
LOG(RECEIVE_LOG_LEVEL, "Energy state");
} else if (buffer[8] == 'a') {
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!");
}
if (buffer[11] == ENEMY_BLUE) {
LOG(RECEIVE_LOG_LEVEL, "ENEMY_BLUE!");
ally_color = ALLY_RED;
enemy_color = ENEMY_BLUE;
} else if (buffer[11] == ENEMY_RED) {
LOG(RECEIVE_LOG_LEVEL, "ENEMY_RED!");
ally_color = ALLY_BLUE;
enemy_color = ENEMY_RED;
}
memcpy(&curr_yaw, buffer, 4);
memcpy(&curr_pitch, buffer + 4, 4);
LOG(RECEIVE_LOG_LEVEL, "Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
if (buffer[9] == 1) {
if (mark == 0) {
mark = 1;
mark_yaw = curr_yaw;
mark_pitch = curr_pitch;
}
LOG(RECEIVE_LOG_LEVEL, "Marked");
}
}
cnt = 0;
}
}