使用旧版候选区寻找方式。

main.cpp

@@ -33,23 +33,11 @@ int mark = 0;
 
 void uartReceive(Uart* uart);
 
-thread* create_data_recv_thread(Uart *uart){
-    thread *thread1 = new thread([uart](){
-        LOGM("Start receiving!");
-        while(1){
-            uart->debugUart();
-        }
-    });
-    return thread1;
-}
-
-
 int main(int argc, char *argv[]){
     process_options(argc, argv);
     Uart uart;
     thread receive(uartReceive, &uart);
 	bool flag = true;
-//    create_data_recv_thread(&uart);
 	while (flag){
         int ally_color = ALLY_RED;
         int energy_part_rotation = CLOCKWISE;

others/include/uart/uart.h

@@ -36,7 +36,6 @@ public:
 
     uint8_t receive();
     void receive_data();
-    bool debugUart();
 };
 
 

others/src/uart/uart.cpp

@@ -121,9 +121,6 @@ int Uart::set_opt(int fd, int nSpeed, int nBits, char nEvent, int nStop) {
     return 0;
 }
 
-FILE *send_info=fopen("send.info", "w");
-FILE *recv_info=fopen("recv.info", "w");
-
 void Uart::sendTarget(float x, float y, float z) {
     static short x_tmp, y_tmp, z_tmp;
 
@@ -149,48 +146,12 @@ void Uart::sendTarget(float x, float y, float z) {
     buff[6] = static_cast<char>((z_tmp >> 0) & 0xFF);
     buff[7] = 'e';
 
-    timeval ts;
-    gettimeofday(&ts, NULL);
-    fprintf(send_info, "%lf %f %f\n",
-            ts.tv_sec + ts.tv_usec / 1e6,
-            x, y
-    );
-
     write(fd, buff, 8);
 
 }
 
-// 's' + (x) ( 8bit + 8bit ) + (y) ( 8bit + 8bit ) + (z) ( 8bit + 8bit ) + 'e'
-
-
 uint8_t Uart::receive() {
     uint8_t data;
     while(read(fd, &data, 1) < 1);
     return data;
 }
-
-void readall(int fd, void* buff, int size) {
-    int cnt = 0;
-    while ((cnt += read(fd, (char*)buff + cnt, size - cnt)) < size);
-}
-
-char readone(int fd){
-    char val;
-    while(read(fd, &val, 1) < 1);
-    return val;
-}
-
-
-
-bool Uart::debugUart() {
-    float val[3];
-    //while(readone(fd) != 's');
-    readall(fd, val, sizeof(val));
-    timeval ts;
-    gettimeofday(&ts, NULL);
-    fprintf(recv_info, "%lf %f %f %f\n",
-            ts.tv_sec + ts.tv_usec / 1e6,
-            val[0], val[1], val[2]
-    );
-}
-