auto-aim

2019-04-14 17:12:43 +08:00
commit 42c5434dc8
47 changed files with 6423 additions and 0 deletions
--- a/main.cpp
+++ b/main.cpp
@@ -0,0 +1,118 @@
+//
+// Created by xixiliadorabarry on 1/24/19.
+//
+#include <fstream>
+#include <iostream>
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+
+#include "energy/energy.h"
+#include "include/uart/uart.h"
+#include "energy/param_struct_define.h"
+#include "energy/constant.h"
+#include "camera/camera_wrapper.h"
+#include "camera/video_wrapper.h"
+#include "camera/wrapper_head.h"
+#include "armor_finder/armor_finder.h"
+
+#include <time.h>
+#include <thread>
+
+using namespace cv;
+using namespace std;
+
+#define ENERGY_STATE 1
+#define ARMOR_STATE 0
+
+int state = ARMOR_STATE;
+float yaw, pitch;
+
+void uartReceive(Uart* uart);
+
+int main()
+{
+    Uart uart;
+	bool flag = true;
+	short done = 0;//用于检测是否已经读完初始激光中心时的角度
+
+	while (flag)
+	{
+        int ally_color = ALLY_RED;
+        int energy_part_rotation = CLOCKWISE;
+
+	    int from_camera = 1;
+	    cout<<"Input 1 for camera, 0 for video files"<<endl;
+	    cin>>from_camera;
+
+		WrapperHead *video;
+		if(from_camera)
+		    video = new CameraWrapper;
+		else
+		    video = new VideoWrapper("r_l_640.avi", "fan_640.avi");
+
+		if (video->init()) {
+			cout << "Video source initialization successfully." << endl;
+		}
+
+		Mat src, src_none;
+
+		ArmorFinder armorFinder(ENEMY_BLUE, uart);
+
+        Energy energy(uart);
+        energy.setAllyColor(ally_color);
+        energy.setRotation(energy_part_rotation);
+
+        static thread receive(uartReceive, &uart);
+
+        if(state==1 && done == 0){
+            energy.uart.receive_data();
+            done = 1;
+        }
+
+//        energy.sendTargetByUart(-8,-8,-8);
+
+
+		time_t t1 = time(nullptr), t2 = time(nullptr);
+
+		while (video->read(src, src_none))
+		{
+//			if(!from_camera)energy.extract(src);
+            if(state == 1){
+                imshow("src", src);
+                energy.run(src);
+            }else{
+                armorFinder.run(src_none);
+            }
+
+			if (waitKey(10) == 'q') {
+				flag = false;
+				break;
+			}
+		}
+		delete video;
+		cout << "Program fails. Restarting" << endl;
+	}
+
+	return 0;
+}
+
+
+void uartReceive(Uart* uart){
+    char buffer[100];
+    int cnt=0;
+    while(true){
+        char data;
+        while((data=uart->receive()) != '\n'){
+            buffer[cnt++] = data;
+        }buffer[cnt] = 0;
+        if(cnt==1 && buffer[0]=='e'){
+            state = ENERGY_STATE;
+        }else if(cnt==1 && buffer[0]=='a'){
+            state = ARMOR_STATE;
+        }else{
+            sscanf(buffer, "%f, %f", &yaw, &pitch);
+        }
+        cnt = 0;
+    }
+}