some refactor

others/include/additions/additions.h

@@ -0,0 +1,32 @@
+//
+// Created by sjturm on 19-5-17.
+//
+
+#ifndef _ADDITIONS_H_
+#define _ADDITIONS_H_
+
+#include <stdint.h>
+#include <serial/serial.h>
+#include <opencv2/videoio.hpp>
+#include <camera/wrapper_head.h>
+
+#define ENEMY_BLUE 0
+#define ENEMY_RED  1
+
+struct mcu_data{
+    float curr_yaw;
+    float curr_pitch;
+    uint8_t state;
+    uint8_t mark;
+    uint8_t use_classifier;
+    uint8_t enemy_color;
+    float mark_yaw;
+    float mark_pitch;
+};
+
+extern mcu_data mcuData;
+
+void uartReceive(Serial *pSerial);
+void initVideoWriter(cv::VideoWriter& video, const std::string &armor_filename_prefix);
+
+#endif /* _ADDITIONS_H_ */

others/src/additions/additions.cpp

@@ -0,0 +1,50 @@
+//
+// Created by sjturm on 19-5-17.
+//
+
+#include <cstring>
+#include <fstream>
+#include <additions/additions.h>
+#include <log.h>
+#include <opencv2/videoio/videoio_c.h>
+
+#define RECEIVE_LOG_LEVEL LOG_NOTHING
+
+void uartReceive(Serial* pSerial) {
+    char buffer[100];
+    int cnt = 0;
+    LOGM("data receive start!");
+    while (true) {
+        char byte;
+        while (pSerial->ReadData((uint8_t*)&byte, 1) && byte!='\n') {
+            buffer[cnt++] = byte;
+            if (cnt >= 100) {
+                LOG(RECEIVE_LOG_LEVEL, "data receive over flow!");
+                cnt = 0;
+            }
+        }
+        if (cnt == sizeof(mcuData)) {
+            memcpy(&mcuData, buffer, sizeof(mcuData));
+        }
+        cnt = 0;
+    }
+}
+
+void initVideoWriter(cv::VideoWriter& video, const std::string &armor_filename_prefix){
+    std::ifstream in_1(armor_filename_prefix + "cnt.txt");
+    int cnt_1 = 0;
+    if (in_1.is_open())
+    {
+        in_1 >> cnt_1;
+        in_1.close();
+    }
+    std::string armor_file_name = armor_filename_prefix + std::to_string(cnt_1) + ".avi";
+    cnt_1++;
+    std::ofstream out_1(armor_filename_prefix + "cnt.txt");
+    if (out_1.is_open()) {
+        out_1 << cnt_1 << std::endl;
+        out_1.close();
+    }
+    video.open(armor_file_name, CV_FOURCC('P', 'I', 'M', '1'), 90, cv::Size(640, 480), true);
+}
+