Merge remote-tracking branch 'origin/master'

# Conflicts: # armor/src/armor_finder/anti_top/anti_top.cpp # energy/src/energy/find/energy_finder.cpp
2019-08-05 01:16:30 +08:00
parent cbadab7f83 125c8d36c9
commit 63e326f883
34 changed files with 18041 additions and 18043 deletions
--- a/armor/include/armor_finder/armor_finder.h
+++ b/armor/include/armor_finder/armor_finder.h
@@ -79,11 +79,11 @@ public:

    explicit ArmorBox(const cv::Rect &pos=cv::Rect2d(), const LightBlobs &blobs=LightBlobs(), uint8_t color=0, int i=0);

+    cv::Point2f getCenter() const;
    double getBlobsDistance() const;
    double lengthDistanceRatio() const;
    double getBoxDistance() const;
    BoxOrientation getOrientation() const;
-//    double

    bool operator<(const ArmorBox &box) const;
 };
@@ -107,24 +107,19 @@ private:
        NORMAL, ANTI_TOP
    } AntiTopState;

-    typedef enum{
-        INCREASE, DECREASE, NOCHANGE
-    } BoxRatioChangeType;
-
    systime frame_time;                                 // 当前帧对应时间;
    const uint8_t &enemy_color;                         // 敌方颜色，引用外部变量，自动变化
    State state;                                        // 自瞄状态对象实例
-    ArmorBox armor_box;                                 // 当前目标装甲板
+    ArmorBox target_box, last_box;                      // 目标装甲板
+    int anti_switch_cnt;                                // 防止乱切目标计数器
    cv::Ptr<cv::Tracker> tracker;                       // tracker对象实例
    Classifier classifier;                              // CNN分类器对象实例，用于数字识别
-    int  contour_area;                                  // 装甲区域亮点个数，用于数字识别未启用时判断是否跟丢（已弃用）
+    int contour_area;                                  // 装甲区域亮点个数，用于数字识别未启用时判断是否跟丢（已弃用）
    int tracking_cnt;                                   // 记录追踪帧数，用于定时退出追踪
    Serial &serial;                                     // 串口对象，引用外部变量，用于和能量机关共享同一个变量
    const uint8_t &use_classifier;                      // 标记是否启用CNN分类器，引用外部变量，自动变化
-    RoundQueue<double, 4> top_periodms;
-    RoundQueue<double, 5> box_ratioes;
+    RoundQueue<double, 4> top_periodms;                 // 陀螺周期循环队列
    systime last_front_time;                            // 上一次发生装甲板方向切换的时间
-    BoxRatioChangeType last_ratio_type;
    int anti_top_cnt;                                   // 满足条件的装甲板方向切换持续次数，用于反陀螺
    AntiTopState anti_top_state;                        // 当前是否识别到陀螺

@@ -135,12 +130,11 @@ private:
    bool stateTrackingTarget(cv::Mat &src);             // tracking state主函数
    bool stateStandBy();                                // stand by state主函数（已弃用）

-    void antiTop();                                    // 反小陀螺
-    BoxRatioChangeType getRatioChangeType(RoundQueue<double, 5> &vec);
+    void antiTop();                                     // 反小陀螺

+    bool sendBoxPosition(uint16_t shoot);               // 和主控板通讯
 public:
    void run(cv::Mat &src);                             // 自瞄主函数
-    bool sendBoxPosition(uint16_t shoot);                             // 和主控板通讯
 };

 #endif /* _ARMOR_FINDER_H_ */
--- a/armor/src/armor_finder/anti_top/anti_top.cpp
+++ b/armor/src/armor_finder/anti_top/anti_top.cpp
@@ -6,13 +6,6 @@
 #include <additions.h>
 #include <log.h>

-static double boxDistance(const cv::Rect2d &a, const cv::Rect2d &b) {
-    cv::Point2d centerA(a.x + a.width / 2, a.y + a.height / 2);
-    cv::Point2d centerB(b.x + b.width / 2, b.y + b.height / 2);
-    auto dist = centerA - centerB;
-    return sqrt(dist.x * dist.x + dist.y * dist.y);
-}
-
 template<int length>
 static double mean(RoundQueue<double, length> &vec) {
    double sum = 0;
@@ -22,75 +15,16 @@ static double mean(RoundQueue<double, length> &vec) {
    return sum / length;
 }

-ArmorFinder::BoxRatioChangeType ArmorFinder::getRatioChangeType(RoundQueue<double, 5> &vec) {
-    auto d = (vec[0] - vec[1] + vec[3] + vec[4]);
-    if (d > 0.15) {
-        return INCREASE;
-    } else if (d < -0.15) {
-        return DECREASE;
-    } else {
-        return NOCHANGE;
-    }
-}
-
-/*
 void ArmorFinder::antiTop() {
    if (target_box.rect == cv::Rect2d()) return;
    uint16_t shoot_delay = 0;
    auto interval = getTimeIntervalms(frame_time, last_front_time);
-    box_ratioes.push(target_box.rect.width / target_box.rect.height);
-    auto change_type = getRatioChangeType(box_ratioes);
-    auto orientation = target_box.getOrientation();
-    if (interval > 700) {
-        anti_top_cnt = 0;
-        if (anti_top_state == ANTI_TOP) {
-            anti_top_state = NORMAL;
-            LOGM(STR_CTR(WORD_YELLOW, "switch to normal"));
-        }
-    }
-    if (change_type == INCREASE && last_ratio_type != change_type) {
-        last_front_time = frame_time;
-        if (150 < interval && interval < 700) {
-            if (anti_top_state == ANTI_TOP) {
-                top_periodms.push(interval);
-                LOGM(STR_CTR(WORD_LIGHT_GREEN, "top period: %.1lf ms"), interval);
-                systime curr_time;
-                getsystime(curr_time);
-                auto calculate_time = getTimeIntervalms(curr_time, frame_time);
-                shoot_delay = mean(top_periodms) - calculate_time;
-            } else if (anti_top_state == NORMAL) {
-                if (++anti_top_cnt > 4) {
-                    anti_top_state = ANTI_TOP;
-                    LOGM(STR_CTR(WORD_CYAN, "switch to anti-top"));
-                }
-            }
-        }
-    }
-    if (change_type != NOCHANGE) {
-        last_ratio_type = change_type;
-    }
-    if (anti_top_state == ANTI_TOP) {
-        if (orientation == ArmorBox::FRONT) {
-            sendBoxPosition(shoot_delay);
-        }
-    } else if (anti_top_state == NORMAL) {
-        sendBoxPosition(shoot_delay);
-    }
-}
-*/
-
-void ArmorFinder::antiTop() {
-    if (target_box.rect == cv::Rect2d()) return;
-    uint16_t shoot_delay = 0;
-    auto interval = getTimeIntervalms(frame_time, last_front_time);
-    if (anti_top_state == ANTI_TOP && interval > 500) {
+    if (anti_top_state == ANTI_TOP && interval > 700) {
        anti_top_state = NORMAL;
        LOGM(STR_CTR(WORD_YELLOW, "switch to normal"));
    }
-    if (last_box.rect != cv::Rect2d() &&
-        getPointLength(last_box.getCenter() - target_box.getCenter()) > last_box.rect.height * 1.0) {
-        LOGM("switch! %lf", getPointLength(last_box.getCenter() - target_box.getCenter()) / last_box.rect.height);
-        if (150 < interval && interval < 500) {
+    if (getPointLength(last_box.getCenter() - target_box.getCenter()) > last_box.rect.height * 1.5) {
+        if (150 < interval && interval < 700) {
            if (anti_top_state == ANTI_TOP) {
                top_periodms.push(interval);
                LOGM(STR_CTR(WORD_LIGHT_GREEN, "top period: %.1lf ms"), interval);
@@ -110,8 +44,8 @@ void ArmorFinder::antiTop() {
    }
    if (anti_top_state == NORMAL) {
        sendBoxPosition(0);
-    } else if (interval < top_periodms[-1] * 0.10) {
-        sendBoxPosition(0);
+    } else if (interval < top_periodms[-1] * 0.1){
+        sendBoxPosition(shoot_delay);
    }
    last_box = target_box;
 }
--- a/armor/src/armor_finder/armor_box/armor_box.cpp
+++ b/armor/src/armor_finder/armor_box/armor_box.cpp
@@ -8,6 +8,15 @@
 ArmorBox::ArmorBox(const cv::Rect &pos, const LightBlobs &blobs, uint8_t color, int i) :
        rect(pos), light_blobs(blobs), box_color(color), id(i) {};

+
+cv::Point2f ArmorBox::getCenter() const {
+    return cv::Point2f(
+            rect.x + rect.width / 2,
+            rect.y + rect.height / 2
+    );
+}
+
+
 double ArmorBox::getBlobsDistance() const {
    if (light_blobs.size() == 2) {
        auto &x = light_blobs[0].rect.center;
@@ -78,10 +87,10 @@ bool ArmorBox::operator<(const ArmorBox &box) const {
            return prior_red[id2name[id]] < prior_red[id2name[box.id]];
        }
    } else {
-        auto d1 = (rect.x-IMAGE_CENTER_X)*(rect.x-IMAGE_CENTER_X)
-                + (rect.y-IMAGE_CENTER_Y)*(rect.y-IMAGE_CENTER_Y);
-        auto d2 = (box.rect.x-IMAGE_CENTER_X)*(box.rect.x-IMAGE_CENTER_X)
-                + (box.rect.y-IMAGE_CENTER_Y)*(box.rect.y-IMAGE_CENTER_Y);
+        auto d1 = (rect.x - IMAGE_CENTER_X) * (rect.x - IMAGE_CENTER_X)
+                  + (rect.y - IMAGE_CENTER_Y) * (rect.y - IMAGE_CENTER_Y);
+        auto d2 = (box.rect.x - IMAGE_CENTER_X) * (box.rect.x - IMAGE_CENTER_X)
+                  + (box.rect.y - IMAGE_CENTER_Y) * (box.rect.y - IMAGE_CENTER_Y);
        return d1 < d2;
    }
 }
--- a/armor/src/armor_finder/armor_finder.cpp
+++ b/armor/src/armor_finder/armor_finder.cpp
@@ -50,6 +50,9 @@ ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder,
        serial(u),
        enemy_color(color),
        state(STANDBY_STATE),
+        anti_top_cnt(0),
+        anti_switch_cnt(0),
+        anti_top_state(NORMAL),
        classifier(paras_folder),
        contour_area(0),
        use_classifier(use),
@@ -63,15 +66,15 @@ void ArmorFinder::run(cv::Mat &src) {
    switch (state) {
        case SEARCHING_STATE:
            if (stateSearchingTarget(src)) {
-                if ((armor_box.rect & cv::Rect2d(0, 0, 640, 480)) == armor_box.rect) { // 判断装甲板区域是否脱离图像区域
+                if ((target_box.rect & cv::Rect2d(0, 0, 640, 480)) == target_box.rect) { // 判断装甲板区域是否脱离图像区域
                    if (!classifier || !use_classifier) {                    /* 如果分类器不可用或者不使用分类器 */
-                        cv::Mat roi = src(armor_box.rect).clone(), roi_gray;  /* 就使用装甲区域亮点数判断是否跟丢 */
+                        cv::Mat roi = src(target_box.rect).clone(), roi_gray;  /* 就使用装甲区域亮点数判断是否跟丢 */
                        cv::cvtColor(roi, roi_gray, CV_RGB2GRAY);
                        cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);
                        contour_area = cv::countNonZero(roi_gray);
                    }
                    tracker = TrackerToUse::create();                       // 成功搜寻到装甲板，创建tracker对象
-                    tracker->init(src, armor_box.rect);
+                    tracker->init(src, target_box.rect);
                    state = TRACKING_STATE;
                    tracking_cnt = 0;
                    LOGM(STR_CTR(WORD_LIGHT_CYAN, "into track"));
@@ -92,7 +95,7 @@ end:
    antiTop();

    if (show_armor_box) {                 // 根据条件显示当前目标装甲板
-        showArmorBox("box", src, armor_box);
+        showArmorBox("box", src, target_box);
        cv::waitKey(1);
    }
 }
--- a/armor/src/armor_finder/find/find_armor_box.cpp
+++ b/armor/src/armor_finder/find/find_armor_box.cpp
@@ -147,9 +147,18 @@ bool ArmorFinder::findArmorBox(const cv::Mat &src, ArmorBox &box) {
                armor_box.id = c;
            }
        }, armor_boxes.size());
-        sort(armor_boxes.begin(), armor_boxes.end());
-        if(armor_boxes[0].id != 0){
-            box = armor_boxes[0];
+        sort(armor_boxes.begin(), armor_boxes.end(), [&](const ArmorBox &a, const ArmorBox &b){
+            if(last_box.rect != cv::Rect2d()){
+                return getPointLength(a.getCenter()-last_box.getCenter()) <
+                       getPointLength(b.getCenter()-last_box.getCenter());
+            }else{
+                return a < b;
+            }
+        });
+        for(auto &one_box : armor_boxes){
+            if(one_box.id != 0){
+                box = one_box;
+            }
        }
        if (save_labelled_boxes) {
            for (const auto &one_box : armor_boxes) {
--- a/armor/src/armor_finder/searching_state/searching_state.cpp
+++ b/armor/src/armor_finder/searching_state/searching_state.cpp
@@ -8,10 +8,31 @@
 #include <log.h>

 bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
-    if(findArmorBox(src, armor_box)){
-        return true;
-    }else{
-        armor_box = ArmorBox();
+    if (findArmorBox(src, target_box)) {
+        if (last_box.rect != cv::Rect2d() &&
+            (getPointLength(last_box.getCenter() - target_box.getCenter()) > last_box.rect.height * 2.0) &&
+            anti_switch_cnt++ < 3) {
+            target_box = ArmorBox();
+            LOGM("anti-switch!");
+            return false;
+        } else {
+            anti_switch_cnt = 0;
+            return true;
+        }
+    } else {
+        target_box = ArmorBox();
+        anti_switch_cnt++;
        return false;
    }
 }
+
+/*
+bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
+    if (findArmorBox(src, target_box)) {
+        return true;
+    } else {
+        target_box = ArmorBox();
+        return false;
+    }
+}
+*/
--- a/armor/src/armor_finder/send_target/send_target.cpp
+++ b/armor/src/armor_finder/send_target/send_target.cpp
@@ -42,11 +42,11 @@ static bool sendTarget(Serial &serial, double x, double y, double z, uint16_t sh
 }

 bool ArmorFinder::sendBoxPosition(uint16_t shoot_delay) {
-    if (armor_box.rect == cv::Rect2d()) return false;
+    if (target_box.rect == cv::Rect2d()) return false;
    if (shoot_delay) {
-        LOGM(STR_CTR(WORD_BLUE, "shoot after %dms"), shoot_delay);
+        LOGM(STR_CTR(WORD_BLUE, "next box %dms"), shoot_delay);
    }
-    auto rect = armor_box.rect;
+    auto rect = target_box.rect;
    double dx = rect.x + rect.width / 2 - IMAGE_CENTER_X;
    double dy = rect.y + rect.height / 2 - IMAGE_CENTER_Y;
    double yaw = atan(dx / FOCUS_PIXAL) * 180 / PI;
--- a/armor/src/armor_finder/tracking_state/tracking_state.cpp
+++ b/armor/src/armor_finder/tracking_state/tracking_state.cpp
@@ -7,13 +7,13 @@
 #include <show_images/show_images.h>

 bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
-    auto pos = armor_box.rect;
+    auto pos = target_box.rect;
    if(!tracker->update(src, pos)){
-        armor_box = ArmorBox();
+        target_box = ArmorBox();
        return false;
    }
    if((pos & cv::Rect2d(0, 0, 640, 480)) != pos){
-        armor_box = ArmorBox();
+        target_box = ArmorBox();
        return false;
    }

@@ -32,35 +32,37 @@ bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {

    ArmorBox box;
    if(findArmorBox(roi, box)) {
-        armor_box = box;
-        armor_box.rect.x += bigger_rect.x;
-        armor_box.rect.y += bigger_rect.y;
-        for(auto &blob : armor_box.light_blobs){
+        target_box = box;
+        target_box.rect.x += bigger_rect.x;
+        target_box.rect.y += bigger_rect.y;
+        for(auto &blob : target_box.light_blobs){
            blob.rect.center.x += bigger_rect.x;
            blob.rect.center.y += bigger_rect.y;
        }
        tracker = TrackerToUse::create();
-        tracker->init(src, armor_box.rect);
+        tracker->init(src, target_box.rect);
    }else{
-        roi = src(pos).clone();
-        if(classifier){
-            cv::resize(roi, roi, cv::Size(48, 36));
-            if(classifier(roi) == 0){
-                armor_box = ArmorBox();
-                return false;
-            }
-        }else{
-            cv::Mat roi_gray;
-            cv::cvtColor(roi, roi_gray, CV_RGB2GRAY);
-            cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);
-            contour_area = cv::countNonZero(roi_gray);
-            if(abs(cv::countNonZero(roi_gray) - contour_area) > contour_area * 0.3){
-                armor_box = ArmorBox();
-                return false;
-            }
-        }
-        armor_box.rect = pos;
-        armor_box.light_blobs.clear();
+//        roi = src(pos).clone();
+//        if(classifier){
+//            cv::resize(roi, roi, cv::Size(48, 36));
+//            if(classifier(roi) == 0){
+//                target_box = ArmorBox();
+//                return false;
+//            }
+//        }else{
+//            cv::Mat roi_gray;
+//            cv::cvtColor(roi, roi_gray, CV_RGB2GRAY);
+//            cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);
+//            contour_area = cv::countNonZero(roi_gray);
+//            if(abs(cv::countNonZero(roi_gray) - contour_area) > contour_area * 0.3){
+//                target_box = ArmorBox();
+//                return false;
+//            }
+//        }
+//        target_box.rect = pos;
+//        target_box.light_blobs.clear();
+        target_box = ArmorBox();
+        return false;
    }
    return true;
 }
--- a/energy/include/energy/energy.h
+++ b/energy/include/energy/energy.h
@@ -66,6 +66,7 @@ private:

    int send_cnt;//向主控板发送的数据总次数
    int camera_cnt;//摄像头数量
+    int fans_cnt;//扇叶个数
    int last_fans_cnt;//上一帧的扇叶个数
    int guess_devide;//刚进入猜测状态时，猜测目标点在极坐标中的分区
    int energy_rotation_direction;//风车旋转方向
--- a/energy/src/energy/clear/energy_init.cpp
+++ b/energy/src/energy/clear/energy_init.cpp
@@ -30,6 +30,7 @@ void Energy::initEnergy() {

    send_cnt = 0;
    camera_cnt = 1;
+    fans_cnt = 0;
    last_fans_cnt = 0;
    guess_devide = 0;
    energy_rotation_direction = ANTICLOCKWISE;
@@ -86,15 +87,15 @@ void Energy::initEnergyPartParam() {
    gimbal_energy_part_param_.FAN_GRAY_THRESH = 75;
    gimbal_energy_part_param_.ARMOR_GRAY_THRESH = 80;

-    gimbal_energy_part_param_.FAN_CONTOUR_AREA_MAX = 6600;
-    gimbal_energy_part_param_.FAN_CONTOUR_AREA_MIN = 0;
-    gimbal_energy_part_param_.FAN_CONTOUR_LENGTH_MIN = 80;
-    gimbal_energy_part_param_.FAN_CONTOUR_LENGTH_MAX = 100;
+    gimbal_energy_part_param_.FAN_CONTOUR_AREA_MAX = 3000;
+    gimbal_energy_part_param_.FAN_CONTOUR_AREA_MIN = 500;
+    gimbal_energy_part_param_.FAN_CONTOUR_LENGTH_MIN = 55;
+    gimbal_energy_part_param_.FAN_CONTOUR_LENGTH_MAX = 95;
    gimbal_energy_part_param_.FAN_CONTOUR_WIDTH_MIN = 20;
    gimbal_energy_part_param_.FAN_CONTOUR_WIDTH_MAX = 52;
-    gimbal_energy_part_param_.FAN_CONTOUR_HW_RATIO_MAX = 4;
-    gimbal_energy_part_param_.FAN_CONTOUR_HW_RATIO_MIN = 1;
-    gimbal_energy_part_param_.FAN_CONTOUR_AREA_RATIO_MIN = 0.65;
+    gimbal_energy_part_param_.FAN_CONTOUR_HW_RATIO_MAX = 3.5;
+    gimbal_energy_part_param_.FAN_CONTOUR_HW_RATIO_MIN = 1.2;
+    gimbal_energy_part_param_.FAN_CONTOUR_AREA_RATIO_MIN = 0.6;
    gimbal_energy_part_param_.FAN_NON_ZERO_RATE_MAX = 0.8;
    gimbal_energy_part_param_.FAN_NON_ZERO_RATE_MIN = 0.48;
 //    gimbal_energy_part_param_.FAN_NON_ZERO_RATE_MAX = 0.3;
--- a/energy/src/energy/find/energy_finder.cpp
+++ b/energy/src/energy/find/energy_finder.cpp
@@ -1,4 +1,4 @@
-//
+//
 // Created by xixiliadorabarry on 1/24/19.
 //
 #include "energy/energy.h"
@@ -39,14 +39,13 @@ int Energy::findFans(const cv::Mat src) {
 //        float length = cur_size.height > cur_size.width ? cur_size.height : cur_size.width;
 //        float width = cur_size.height < cur_size.width ? cur_size.height : cur_size.width;
 //        double cur_contour_area = contourArea(fan_contour);
-//        double non_zero_rate = nonZeroRateOfRotateRect(src_bin, cur_rect);
-//        if (length > 60 && width > 20) {
-//            fans.emplace_back(cv::minAreaRect(fan_contour));
-//            cout << cur_rect.center << endl;
-//            cout << "fan area: " << length << '\t' << width << endl;
-//            cout << "non zero: " << nonZeroRateOfRotateRect(src_bin, cur_rect) << endl;
-//            cout << "rate: " << cur_contour_area / cur_size.area() << endl;
-//        }
+//        float length_width_ratio = length / width;
+//        cout << "area: " << cur_contour_area << '\t' << endl;
+//        cout << "length: " << length << '\t' << "width: " << width << '\t' << cur_rect.center << endl;
+//        cout << "HW: " << length_width_ratio << '\t' << cur_rect.center << endl;
+//        cout << "area ratio: " << cur_contour_area / cur_size.area() << '\t' << cur_rect.center << endl;
+//        cout<<endl;
+
    }
 //    showFans("fan", src_bin);
    if (fans.size() < last_fans_cnt) {
--- a/energy/src/energy/get/aim_point_get.cpp
+++ b/energy/src/energy/get/aim_point_get.cpp
@@ -9,7 +9,7 @@
 using namespace std;
 using namespace cv;

-extern mcu_data mcuData;
+extern McuData mcu_data;

 //----------------------------------------------------------------------------------------------------------------------
 // 此函数通过自瞄逻辑击打目标点，用于大符的自动对心和小符直接打击
@@ -29,12 +29,12 @@ void Energy::getAimPoint(cv::Point target_point_) {
        extra_delta_y = 0;
    }

-    double dx = -(target_point_.x - 320 - COMPENSATE_YAW - mcuData.delta_x - manual_delta_x - extra_delta_x);
-    double dy = -(target_point_.y - 240 - COMPENSATE_PITCH - mcuData.delta_y - manual_delta_y - extra_delta_y);
+    double dx = -(target_point_.x - 320 - COMPENSATE_YAW - mcu_data.delta_x - manual_delta_x - extra_delta_x);
+    double dy = -(target_point_.y - 240 - COMPENSATE_PITCH - mcu_data.delta_y - manual_delta_y - extra_delta_y);
    yaw_rotation = atan(dx / FOCUS_PIXAL) * 180 / PI;
    pitch_rotation = atan(dy / FOCUS_PIXAL) * 180 / PI;
 //    cout << "yaw: " << yaw_rotation << '\t' << "pitch: " << pitch_rotation << endl;
-//    cout << "mcuData.delta_x: " << mcuData.delta_x << '\t' << "mcuData.delta_y: " << mcuData.delta_y << endl;
+//    cout << "mcu_data.delta_x: " << mcu_data.delta_x << '\t' << "mcu_data.delta_y: " << mcu_data.delta_y << endl;
 //    cout << "manual delta: " << manual_delta_x << '\t' << manual_delta_y << endl;

 }
--- a/energy/src/energy/get/gimble_rotation_get.cpp
+++ b/energy/src/energy/get/gimble_rotation_get.cpp
@@ -15,23 +15,23 @@ using std::vector;
 // 此函数用于操作手手动标定
 // ---------------------------------------------------------------------------------------------------------------------
 void Energy::changeMark() {
-    if (mcuData.mark == 0 && last_mark == 1) {//完成标定
-        last_mark = mcuData.mark;
-        origin_yaw = mcuData.curr_yaw;
-        origin_pitch = mcuData.curr_pitch;
+    if (mcu_data.mark == 0 && last_mark == 1) {//完成标定
+        last_mark = mcu_data.mark;
+        origin_yaw = mcu_data.curr_yaw;
+        origin_pitch = mcu_data.curr_pitch;
        is_mark = false;
        manual_mark = true;
 //        LOGM(STR_CTR(WORD_LIGHT_YELLOW, "IsMark"));
-    } else if (mcuData.mark == 1) {//正在标定
-        last_mark = mcuData.mark;
+    } else if (mcu_data.mark == 1) {//正在标定
+        last_mark = mcu_data.mark;
        is_mark = true;
 //		LOGM(STR_CTR(WORD_BLUE,"Marking..."));

    } else {//未在标定
-        last_mark = mcuData.mark;
+        last_mark = mcu_data.mark;
        is_mark = false;
    }
-    //cout<<"mark: "<<int(mcuData.mark)<<endl;
+    //cout<<"mark: "<<int(mcu_data.mark)<<endl;
 }


--- a/energy/src/energy/get/origin_get.cpp
+++ b/energy/src/energy/get/origin_get.cpp
@@ -40,8 +40,8 @@ bool Energy::getOrigin() {
        if (abs(center_delta_yaw) > 0.3 || abs(center_delta_pitch) > 0.3) {
            return false;
        } else {
-            origin_yaw = mcuData.curr_yaw;
-            origin_pitch = mcuData.curr_pitch;
+            origin_yaw = mcu_data.curr_yaw;
+            origin_pitch = mcu_data.curr_pitch;
            auto_mark = true;
            LOGM(STR_CTR(WORD_BLUE_CODE, "auto mark success!"));
            return true;
--- a/energy/src/energy/judge/judge_shoot.cpp
+++ b/energy/src/energy/judge/judge_shoot.cpp
@@ -14,7 +14,7 @@ using namespace cv;
 // 此函数用于判断世界坐标系下是否可以发弹
 // ---------------------------------------------------------------------------------------------------------------------
 void Energy::judgeShootInWorld() {
-    if (abs(yaw_rotation - mcuData.curr_yaw) < 0.5 && abs(pitch_rotation - mcuData.curr_pitch) < 0.5) {
+    if (abs(yaw_rotation - mcu_data.curr_yaw) < 0.5 && abs(pitch_rotation - mcu_data.curr_pitch) < 0.5) {
        shoot = 4;
 //        is_predicting = false;
 //        is_guessing = true;
--- a/energy/src/energy/mark/mark.cpp
+++ b/energy/src/energy/mark/mark.cpp
@@ -12,11 +12,11 @@ using namespace cv;
 // 此函数用于记录操作手的微调dx和dy
 // ---------------------------------------------------------------------------------------------------------------------
 void Energy::writeDownSlightChange(cv::Mat &src) {
-    if (findFans(src) >= 4) {
+    if (fans_cnt >= 4) {
        FILE *fp_delta = fopen(PROJECT_DIR"/Mark/delta.txt", "w");
        if (fp_delta) {
-            fprintf(fp_delta, "delta_x: %d, delta_y: %d\n", mcuData.delta_x + manual_delta_x,
-                    mcuData.delta_y + manual_delta_y);
+            fprintf(fp_delta, "delta_x: %d, delta_y: %d\n", mcu_data.delta_x + manual_delta_x,
+                    mcu_data.delta_y + manual_delta_y);
            fclose(fp_delta);
        }
    }
--- a/energy/src/energy/run.cpp
+++ b/energy/src/energy/run.cpp
@@ -89,6 +89,8 @@ void Energy::runBig(cv::Mat &gimbal_src) {
    if (show_energy)showFlowStrip("strip", gimbal_src);
    if (!findCenterR(gimbal_src))return;
    if (show_energy)showCenterR("R", gimbal_src);
+    fans_cnt = findFans(gimbal_src);
+    if (show_energy)showFans("fans", gimbal_src);

 //    getCenter();
 //    sendEnergy();
@@ -127,7 +129,9 @@ void Energy::runSmall(cv::Mat &gimbal_src) {
        if (!findTargetInFlowStripFan()) return;
        if (!findFlowStrip(gimbal_src))return;
    }
-    if(show_energy)showTarget("target", gimbal_src);
+    if (show_energy)showTarget("target", gimbal_src);
+    fans_cnt = findFans(gimbal_src);
+    if (show_energy)showFans("fans", gimbal_src);

 //    getCenter();
 //    sendEnergy();
--- a/energy/src/energy/send/send.cpp
+++ b/energy/src/energy/send/send.cpp
@@ -19,30 +19,45 @@ void Energy::sendEnergy() {
            sum_yaw += yaw_rotation;
            sum_pitch += pitch_rotation;
            MINMAX(sum_yaw, -100, 100);
-            MINMAX(sum_pitch, -100, 100);\
+            MINMAX(sum_pitch, -100, 100);
+            double tmp_yaw = yaw_rotation;
+            double tmp_pitch = pitch_rotation;
            yaw_rotation = BIG_YAW_AIM_KP * yaw_rotation + BIG_YAW_AIM_KI * sum_yaw + BIG_YAW_AIM_KD * (yaw_rotation - last_yaw);
            pitch_rotation = BIG_PITCH_AIM_KP * pitch_rotation + BIG_PITCH_AIM_KI * sum_pitch +
                    BIG_PITCH_AIM_KD * (pitch_rotation - last_pitch);
+            last_yaw = tmp_yaw;
+            last_pitch = tmp_pitch;
        } else if (is_chassis) {
-            sum_yaw += yaw_rotation - mcuData.curr_yaw;
-            sum_pitch += pitch_rotation - mcuData.curr_pitch;
-            yaw_rotation = BIG_YAW_AIM_KP * (yaw_rotation - mcuData.curr_yaw) + BIG_YAW_AIM_KI * sum_yaw;
-            pitch_rotation = BIG_PITCH_AIM_KP * (pitch_rotation - mcuData.curr_pitch) + BIG_PITCH_AIM_KI * sum_pitch;
+            sum_yaw += yaw_rotation - mcu_data.curr_yaw;
+            sum_pitch += pitch_rotation - mcu_data.curr_pitch;
+            double tmp_yaw = yaw_rotation;
+            double tmp_pitch = pitch_rotation;
+            yaw_rotation = BIG_YAW_AIM_KP * (yaw_rotation - mcu_data.curr_yaw) + BIG_YAW_AIM_KI * sum_yaw;
+            pitch_rotation = BIG_PITCH_AIM_KP * (pitch_rotation - mcu_data.curr_pitch) + BIG_PITCH_AIM_KI * sum_pitch;
+            last_yaw = tmp_yaw;
+            last_pitch = tmp_pitch;
        }
    } else if (is_small){
        sum_yaw += yaw_rotation;
        sum_pitch += pitch_rotation;
        MINMAX(sum_yaw, -100, 100);
        MINMAX(sum_pitch, -100, 100);
+        double tmp_yaw = yaw_rotation;
+        double tmp_pitch = pitch_rotation;
        yaw_rotation = SMALL_YAW_AIM_KP * yaw_rotation + SMALL_YAW_AIM_KD * (yaw_rotation - last_yaw);
        pitch_rotation = SMALL_PITCH_AIM_KP * pitch_rotation + SMALL_PITCH_AIM_KD * (pitch_rotation - last_pitch);
+        last_yaw = tmp_yaw;
+        last_pitch = tmp_pitch;
    }

+
    if (change_target) {
        sendTarget(serial, yaw_rotation, pitch_rotation, 5, 0);
    } else if (is_guessing) {
        sendTarget(serial, yaw_rotation, pitch_rotation, 6, 0);
-    } else {
+    } /*else if (fans_cnt >= 4) {
+        sendTarget(serial, yaw_rotation, pitch_rotation, 7, 0);
+    }*/ else {
        sendTarget(serial, yaw_rotation, pitch_rotation, shoot, 0);
    }

--- a/main.cpp
+++ b/main.cpp
@@ -27,7 +27,7 @@
 using namespace cv;
 using namespace std;

-mcu_data mcuData = {    // 单片机端回传结构体
+McuData mcu_data = {    // 单片机端回传结构体
        0,              // 当前云台yaw角
        0,              // 当前云台pitch角
        ARMOR_STATE,    // 当前状态，自瞄-大符-小符
@@ -44,9 +44,9 @@ WrapperHead *video_chassis = nullptr;   // 底盘摄像头视频源
 Serial serial(115200);                  // 串口对象
 uint8_t last_state = INIT_STATE;     // 上次状态，用于初始化
 // 自瞄主程序对象
-ArmorFinder armorFinder(mcuData.enemy_color, serial, PROJECT_DIR"/tools/para/", mcuData.use_classifier);
+ArmorFinder armorFinder(mcu_data.enemy_color, serial, PROJECT_DIR"/tools/para/", mcu_data.use_classifier);
 // 能量机关主程序对象
-Energy energy(serial, mcuData.enemy_color);
+Energy energy(serial, mcu_data.enemy_color);

 int box_distance = 0;

@@ -66,8 +66,8 @@ int main(int argc, char *argv[]) {
            video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
            video_chassis = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "energy"*/);
        } else {
-            video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/new/18.avi");
-            video_chassis = new VideoWrapper("/home/sun/项目/energy_video/new/18.avi");
+            video_gimbal = new VideoWrapper(PROJECT_DIR"/gimbal_video/0.avi");
+            video_chassis = new VideoWrapper(PROJECT_DIR"/gimbal_video/0.avi");
        }
        if (video_gimbal->init()) {
            LOGM("video_gimbal source initialization successfully.");
@@ -94,93 +94,91 @@ int main(int argc, char *argv[]) {
        cout << "start running" << endl;
        do {
            CNT_TIME("Total", {
-                if (mcuData.state == BIG_ENERGY_STATE) {//大能量机关模式
-                    if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化
-                        LOGM(STR_CTR(WORD_BLUE, "Start Big Energy!"));
-                        destroyAllWindows();
-                        if (from_camera) {
-                            delete video_gimbal;
-                            video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
-                            if (video_gimbal->init()) {
-                                LOGM("video_gimbal source initialization successfully.");
-                            } else {
-                                LOGW("video_gimbal source unavailable!");
-                            }
+            if (mcu_data.state == BIG_ENERGY_STATE) {//大能量机关模式
+                if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化
+                    LOGM(STR_CTR(WORD_BLUE, "Start Big Energy!"));
+                    destroyAllWindows();
+                    if (from_camera) {
+                        delete video_gimbal;
+                        video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
+                        if (video_gimbal->init()) {
+                            LOGM("video_gimbal source initialization successfully.");
+                        } else {
+                            LOGW("video_gimbal source unavailable!");
                        }
-                        checkReconnect(video_chassis->read(chassis_src));
-                        energy.setBigEnergyInit();
                    }
-                    last_state = mcuData.state;//更新上一帧状态
-                    ok = checkReconnect(video_gimbal->read(gimbal_src));
-                    video_chassis->read(chassis_src);
+                    checkReconnect(video_chassis->read(chassis_src));
+                    energy.setBigEnergyInit();
+                }
+                last_state = mcu_data.state;//更新上一帧状态
+                ok = checkReconnect(video_gimbal->read(gimbal_src));
+                video_chassis->read(chassis_src);
 #ifdef GIMBAL_FLIP_MODE
-                    flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
+                flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
 #endif
 #ifdef CHASSIS_FLIP_MODE
-                    flip(chassis_src, chassis_src, CHASSIS_FLIP_MODE);
+                flip(chassis_src, chassis_src, CHASSIS_FLIP_MODE);
 #endif
-                    if (!from_camera) extract(gimbal_src, chassis_src);
-                    if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频
-                    if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像
-//                    energy.runBig(gimbal_src, chassis_src);
-                    energy.runBig(gimbal_src);
-                    if (show_energy || show_process) waitKey(1);
-                } else if (mcuData.state == SMALL_ENERGY_STATE) {
-                    if (last_state != SMALL_ENERGY_STATE) {
-                        LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!"));
-                        destroyAllWindows();
-                        if (from_camera) {
-                            delete video_gimbal;
-                            video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
-                            if (video_gimbal->init()) {
-                                LOGM("video_gimbal source initialization successfully.");
-                            } else {
-                                LOGW("video_gimbal source unavailable!");
-                            }
-                        }
-                        energy.setSmallEnergyInit();
-                    }
-                    last_state = mcuData.state;//更新上一帧状态
-                    ok = checkReconnect(video_gimbal->read(gimbal_src));
-#ifdef GIMBAL_FLIP_MODE
-                    flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
-#endif
-                    if (!from_camera) extract(gimbal_src);
-                    if (save_video) saveVideos(gimbal_src);//保存视频
-                    if (show_origin) showOrigin(gimbal_src);//显示原始图像
-                    energy.runSmall(gimbal_src);
-                    if (show_energy || show_process) waitKey(1);
-                } else {                                         // 自瞄模式
-                    if (last_state != ARMOR_STATE) {
-                        LOGM(STR_CTR(WORD_RED, "Start Armor!"));
-                        destroyAllWindows();
-                        if (from_camera) {
-                            delete video_gimbal;
-                            video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
-                            if (video_gimbal->init()) {
-                                LOGM("video_gimbal source initialization successfully.");
-                            } else {
-                                LOGW("video_gimbal source unavailable!");
-                            }
+                if (!from_camera) extract(gimbal_src, chassis_src);
+                if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频
+                if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像
+                energy.runBig(gimbal_src, chassis_src);
+//                energy.runBig(gimbal_src);
+            } else if (mcu_data.state == SMALL_ENERGY_STATE) {
+                if (last_state != SMALL_ENERGY_STATE) {
+                    LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!"));
+                    destroyAllWindows();
+                    if (from_camera) {
+                        delete video_gimbal;
+                        video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
+                        if (video_gimbal->init()) {
+                            LOGM("video_gimbal source initialization successfully.");
+                        } else {
+                            LOGW("video_gimbal source unavailable!");
                        }
                    }
-                    last_state = mcuData.state;
-                    CNT_TIME(STR_CTR(WORD_GREEN, "read img"), {
-                            if (!checkReconnect(video_gimbal->read(gimbal_src))) continue;
-                    });
+                    energy.setSmallEnergyInit();
+                }
+                last_state = mcu_data.state;//更新上一帧状态
+                ok = checkReconnect(video_gimbal->read(gimbal_src));
 #ifdef GIMBAL_FLIP_MODE
-                    flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
+                flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
+#endif
+                if (!from_camera) extract(gimbal_src);
+                if (save_video) saveVideos(gimbal_src);//保存视频
+                if (show_origin) showOrigin(gimbal_src);//显示原始图像
+                energy.runSmall(gimbal_src);
+            } else {                                         // 自瞄模式
+                if (last_state != ARMOR_STATE) {
+                    LOGM(STR_CTR(WORD_RED, "Start Armor!"));
+                    destroyAllWindows();
+                    if (from_camera) {
+                        delete video_gimbal;
+                        video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
+                        if (video_gimbal->init()) {
+                            LOGM("video_gimbal source initialization successfully.");
+                        } else {
+                            LOGW("video_gimbal source unavailable!");
+                        }
+                    }
+                }
+                last_state = mcu_data.state;
+                CNT_TIME(STR_CTR(WORD_GREEN, "read img"), {
+                    if(!checkReconnect(video_gimbal->read(gimbal_src))) continue;
+                });
+#ifdef GIMBAL_FLIP_MODE
+                flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
 #endif
 //                CNT_TIME("something whatever", {
                    if (!from_camera) extract(gimbal_src);
                    if (save_video) saveVideos(gimbal_src);
                    if (show_origin) showOrigin(gimbal_src);
 //                });
-                    CNT_TIME(STR_CTR(WORD_CYAN, "Armor Time"), {
-                            armorFinder.run(gimbal_src);
-                    });
-                }
-//                cv::waitKey(0);
+                CNT_TIME(STR_CTR(WORD_CYAN, "Armor Time"), {
+                    armorFinder.run(gimbal_src);
+                });
+            }
+//            cv::waitKey(0);
            });
        } while (ok);
        delete video_gimbal;
--- a/others/include/additions.h
+++ b/others/include/additions.h
@@ -10,7 +10,7 @@
 #include <serial.h>
 #include <opencv2/core.hpp>

-struct mcu_data {
+struct McuData {
    float curr_yaw;
    float curr_pitch;
    uint8_t state;
@@ -21,7 +21,7 @@ struct mcu_data {
    int delta_y;
 };

-extern mcu_data mcuData;
+extern McuData mcu_data;

 void uartReceive(Serial *pSerial);

@@ -43,6 +43,8 @@ void extract(cv::Mat &gimbal_src);

 float getTimeIntervalms(const systime &now, const systime &last);

+double getPointLength(const cv::Point2f &p);
+
 template<class type, int length>
 class RoundQueue {
 private:
--- a/others/include/config/setconfig.h
+++ b/others/include/config/setconfig.h
@@ -32,31 +32,31 @@
    #define ENERGY_CAMERA_GAIN  (20)
 #endif
 #ifndef SMALL_YAW_AIM_KD
-    #define SMALL_YAW_AIM_KD (1.5)
+    #define SMALL_YAW_AIM_KD (0)
 #endif
 #ifndef SMALL_YAW_AIM_KP
-    #define SMALL_YAW_AIM_KP (2.5)
+    #define SMALL_YAW_AIM_KP (4)
 #endif
 #ifndef SMALL_PITCH_AIM_KD
-    #define SMALL_PITCH_AIM_KD (1.3)
+    #define SMALL_PITCH_AIM_KD (0)
 #endif
 #ifndef SMALL_PITCH_AIM_KP
-    #define SMALL_PITCH_AIM_KP (2.4)
+    #define SMALL_PITCH_AIM_KP (3.7)
 #endif
 #ifndef BIG_YAW_AIM_KD
-    #define BIG_YAW_AIM_KD (0.7)
+    #define BIG_YAW_AIM_KD (0)
 #endif
 #ifndef BIG_YAW_AIM_KP
-    #define BIG_YAW_AIM_KP (4.5)
+    #define BIG_YAW_AIM_KP (6.5)
 #endif
 #ifndef BIG_YAW_AIM_KI
    #define BIG_YAW_AIM_KI (0.1)
 #endif
 #ifndef BIG_PITCH_AIM_KD
-    #define BIG_PITCH_AIM_KD (0.7)
+    #define BIG_PITCH_AIM_KD (0)
 #endif
 #ifndef BIG_PITCH_AIM_KP
-    #define BIG_PITCH_AIM_KP (4.5)
+    #define BIG_PITCH_AIM_KP (6.5)
 #endif
 #ifndef BIG_PITCH_AIM_KI
    #define BIG_PITCH_AIM_KI (0.1)
--- a/others/src/additions.cpp
+++ b/others/src/additions.cpp
@@ -34,12 +34,12 @@ void uartReceive(Serial *pSerial) {
    LOGM(STR_CTR(WORD_LIGHT_WHITE, "data receive start!"));
    while (true) {
        memset(buffer, 0, sizeof(buffer));
-        pSerial->ReadData((uint8_t *) buffer, sizeof(mcuData)+1);
-        if (buffer[sizeof(mcuData)] == '\n') {
-            memcpy(&mcuData, buffer, sizeof(mcuData));
-//            LOGM("Get, state:%c, mark:%d!", mcuData.state, (int) mcuData.mark);
-//            LOGM("Get yaw: %f, pitch: %f!", mcuData.curr_yaw, mcuData.curr_pitch);
-//            LOGM("Get delta x: %d, delta y: %d!", mcuData.delta_x, mcuData.delta_y);
+        pSerial->ReadData((uint8_t *) buffer, sizeof(mcu_data)+1);
+        if (buffer[sizeof(mcu_data)] == '\n') {
+            memcpy(&mcu_data, buffer, sizeof(mcu_data));
+//            LOGM("Get, state:%c, mark:%d!", mcu_data.state, (int) mcu_data.mark);
+//            LOGM("Get yaw: %f, pitch: %f!", mcu_data.curr_yaw, mcu_data.curr_pitch);
+//            LOGM("Get delta x: %d, delta y: %d!", mcu_data.delta_x, mcu_data.delta_y);
 //            static int t = time(nullptr);
 //            static int cnt = 0;
 //            if(time(nullptr) > t){
@@ -173,3 +173,7 @@ void extract(cv::Mat &gimbal_src) {//图像预处理，将视频切成640×480
 float getTimeIntervalms(const systime &now, const systime &last){
    return (now.second-last.second)*1000.0 + (now.millisecond-last.millisecond);
 }
+
+double getPointLength(const cv::Point2f &p) {
+    return sqrt(p.x * p.x + p.y * p.y);
+}
--- a/tools/TrainCNN/backward.py
+++ b/tools/TrainCNN/backward.py
@@ -96,7 +96,7 @@ def train(dataset, show_bar=False):

            _, loss_value, step = sess.run(
                [train_op, loss, global_step],
-                feed_dict={x: images_samples, y_: labels_samples, keep_rate:0.4}
+                feed_dict={x: images_samples, y_: labels_samples, keep_rate:0.3}
            )

            if step % 500 == 0:
--- a/tools/create-startup.sh
+++ b/tools/create-startup.sh
@@ -2,6 +2,8 @@

 echo "#!/bin/bash" > $2/startup-run
 echo "echo sjturm | sudo -S cpufreq-set -g performance" >> $2/startup-run
-echo "$1/tools/auto-pull.sh" >> $2/startup-run
+echo "mkdir $1/Mark" >> $2/startup-run
+echo "mkdir $1/gimbal_video" >> $2/startup-run
+echo "mkdir $1/armor_box_photo" >> $2/startup-run
 echo "gnome-terminal -- bash -c \"echo sjturm | sudo -S $1/tools/monitor.sh \\\"$2/run --run-with-camera --save-video --wait-uart --save-labelled-boxes\\\"\"" >> $2/startup-run
 chmod +x $2/startup-run
--- a/tools/para/conv1_b
+++ b/tools/para/conv1_b
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--- a/tools/para/conv2_b
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--- a/tools/para/conv2_w
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--- a/tools/para/conv3_b
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--- a/tools/para/conv3_w
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--- a/tools/para/fc1_b
+++ b/tools/para/fc1_b
@@ -1,51 +1,51 @@
 50
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--- a/tools/para/fc1_w
+++ b/tools/para/fc1_w
--- a/tools/para/fc2_b
+++ b/tools/para/fc2_b
@@ -1,16 +1,16 @@
 15
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--- a/tools/para/fc2_w
+++ b/tools/para/fc2_w