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Merge remote-tracking branch 'origin/master'

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This commit is contained in:
JiatongSun
2019-05-03 10:19:37 +08:00
parent bf1693836f 86e04d444c
commit 5eef76b04b
2 changed files with 11 additions and 10 deletions
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2
CMakeLists.txt
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@@ -3,7 +3,7 @@ CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
PROJECT(AutoAim)
SET(CMAKE_CXX_STANDARD 11)
SET(CMAKE_BUILD_TYPE RELEASE)
SET(CMAKE_CXX_FLAGS "-DPROJECT_DIR=\"\\\"${PROJECT_SOURCE_DIR}\\\"\"")
SET(CMAKE_CXX_FLAGS "-DPATH=\"\\\"${PROJECT_SOURCE_DIR}\\\"\"")
FIND_PROGRAM(CCACHE_FOUND ccache)
IF(CCACHE_FOUND)

19
main.cpp
View File

@@ -18,9 +18,9 @@
//#define DO_NOT_CNT_TIME
#include <log.h>
#define PATH PROJECT_DIR
#define PROJECT_DIR PATH
#define ENERGY_STATE 1
#define ARMOR_STATE 0
#define ARMOR_STATE 0
using namespace cv;
using namespace std;
@@ -64,7 +64,7 @@ int main(int argc, char *argv[]){
Mat energy_src, armor_src;
ArmorFinder armorFinder(ENEMY_BLUE, uart, PATH"/tools/para/");
ArmorFinder armorFinder(ENEMY_BLUE, uart, PROJECT_DIR"/tools/para/");
Energy energy(uart);
energy.setAllyColor(ally_color);
@@ -102,6 +102,7 @@ int main(int argc, char *argv[]){
return 0;
}
#define RECEIVE_LOG_LEVEL LOG_NOTHING
void uartReceive(Uart* uart){
char buffer[100];
@@ -111,28 +112,28 @@ void uartReceive(Uart* uart){
while((data=uart->receive()) != '\n'){
buffer[cnt++] = data;
if(cnt >= 100){
// LOGE("data receive over flow!");
LOG(RECEIVE_LOG_LEVEL, "data receive over flow!");
cnt = 0;
}
}
if(cnt == 10){
if(buffer[8] == 'e'){
state = ENERGY_STATE;
// LOGM("Energy state");
LOG(RECEIVE_LOG_LEVEL, "Energy state");
}else if(buffer[8] == 'a'){
state = ARMOR_STATE;
// LOGM("Armor state");
LOG(RECEIVE_LOG_LEVEL, "Armor state");
}
memcpy(&curr_yaw, buffer, 4);
memcpy(&curr_pitch, buffer+4, 4);
// LOGM("Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
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;
}
// LOGM("Marked");
LOG(RECEIVE_LOG_LEVEL, "Marked");
}
}
cnt = 0;