something

others/include/options/options.h

@@ -5,64 +5,16 @@
 #ifndef _OPTIONS_H_
 #define _OPTIONS_H_
 
-#ifdef FIX_OPTIONS
-    #ifdef SHOW_ARMOR_BOX
-        #define show_armor_box true
-    #else
-        #define show_armor_box false
-    #endif
 
-    #ifdef SHOW_ARMOR_BOXES
-        #define show_armor_boxes true
-    #else
-        #define show_armor_boxes false
-    #endif
-
-    #ifdef SHOW_LIGHT_BLOBS
-        #define show_light_blobs true
-    #else
-        #define show_light_blobs false
-    #endif
-
-    #ifdef SHOW_ORIGIN
-        #define show_origin true
-    #else
-        #define show_origin false
-    #endif
-
-    #ifdef SAVE_LABELLED
-        #define save_labelled true
-    #else
-        #define save_labelled false
-    #endif
-
-    #ifdef RUN_WITH_CAMERA
-        #define run_with_camera true
-    #else
-        #define run_with_camera false
-    #endif
-
-    #ifdef SAVE_VIDEO
-        #define save_video true
-    #else
-        #define save_video false
-    #endif
-
-    #ifdef COLLECT_DATA
-        #define collect_data true
-    #else
-        #define collect_data false
-    #endif
-#else /* FIX_OPTIONS */
-    extern bool show_armor_box;
-    extern bool show_armor_boxes;
-    extern bool show_light_blobs;
-    extern bool show_origin;
-    extern bool save_labelled;
-    extern bool run_with_camera;
-    extern bool save_video;
-    extern bool collect_data;
-#endif /* FIX_OPTIONS */
+extern bool show_armor_box;
+extern bool show_armor_boxes;
+extern bool show_light_blobs;
+extern bool show_origin;
+extern bool save_labelled;
+extern bool run_with_camera;
+extern bool save_video;
+extern bool collect_data;
+extern bool wait_uart;
 
 void process_options(int argc, char *argv[]);
 

others/src/camera/camera_wrapper.cpp

@@ -40,14 +40,13 @@ bool CameraWrapper::init() {
     for(i=0; i<camera_cnts; i++){
         camera_status = CameraInit(&camera_enum_list[i], -1, -1, &h_camera);
         if (camera_status != CAMERA_STATUS_SUCCESS) {
-            LOGE("Camera 0 initialization failed with code %d. See camera_status.h to find the code meaning.", camera_status);
-            goto stop;
+            CameraUnInit(h_camera);
+            continue;
         }
         CameraGetFriendlyName(h_camera, camera_name);
         if(name=="NULL" || strcmp(name.data(), camera_name)==0){
             break;
         }
-stop:
         CameraUnInit(h_camera);
     }
     if(i >= camera_cnts){
@@ -72,7 +71,7 @@ stop:
         CameraGetExposureTime(h_camera, &t);
         LOGM("Exposure time: %lfms", t/1000.0);
         // 模拟增益4
-        CameraSetAnalogGain(h_camera, 60);
+        CameraSetAnalogGain(h_camera, 63);
         // 使用预设LUT表
         CameraSetLutMode(h_camera, LUTMODE_PRESET);
         // 抗频闪

others/src/options/options.cpp

@@ -6,7 +6,6 @@
 #include <log.h>
 #include <cstring>
 
-#ifndef FIX_OPTIONS
 bool show_armor_box = false;
 bool show_armor_boxes = false;
 bool show_light_blobs = false;
@@ -15,6 +14,7 @@ bool save_labelled = false;
 bool run_with_camera = false;
 bool save_video = false;
 bool collect_data = false;
+bool wait_uart = false;
 
 void process_options(int argc, char *argv[]){
     if(argc >= 2){
@@ -61,12 +61,12 @@ void process_options(int argc, char *argv[]){
             }else if(strcmp(argv[i], "--collect-data") == 0){
                 collect_data = true;
                 LOGM("Enable data collection!");
+            }else if(strcmp(argv[i], "--wait-uart") == 0){
+                wait_uart = true;
+                LOGM("Wait uart until available!");
             }else{
                 LOGW("Unknown option: %s. Use --help to see options.", argv[i]);
             }
         }
     }
 }
-#else
-void process_options(int argc, char *argv[]){};
-#endif /* FIX_OPTIONS */

others/src/uart/uart.cpp

@@ -4,6 +4,7 @@
 
 #include <uart/uart.h>
 #include <energy/param_struct_define.h>
+#include <options/options.h>
 #include <log.h>
 
 using std::cout;
@@ -17,11 +18,14 @@ GMAngle_t aim;
 
 
 Uart::Uart(){
-    fd = open("/dev/ttyUSB0", O_RDWR);
-    if(fd < 0)
-    {
-        cerr<<"open port error"<<endl;
-        return;
+    if(wait_uart){
+        while((fd = open("/dev/ttyUSB0", O_RDWR)) < 0);
+    }else{
+        fd = open("/dev/ttyUSB0", O_RDWR);
+        if(fd < 0) {
+            cerr<<"open port error"<<endl;
+            return;
+        }
     }
 
     if(set_opt(fd, 115200, 8, 'N', 1) < 0 )
@@ -146,8 +150,12 @@ void Uart::sendTarget(float x, float y, float z) {
     buff[6] = static_cast<char>((z_tmp >> 0) & 0xFF);
     buff[7] = 'e';
 
-    write(fd, buff, 8);
-
+    int cnt=0;
+    while((cnt+=write(fd, buff+cnt, 8-cnt))!=-1 && cnt<8);
+    if(cnt==-1 && wait_uart){
+        LOGE("Uart send fail, the uart device may offline! Restart!");
+        exit(-1);
+    }
 }
 
 uint8_t Uart::receive() {