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This commit is contained in:
xinyang
2019-05-14 20:03:03 +08:00
parent 601bf2a510
commit 6980145e83
28 changed files with 13037 additions and 395 deletions
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47
others/src/camera/camera_wrapper.cpp
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@@ -4,6 +4,9 @@
#include <camera/camera_wrapper.h>
#include <log.h>
#include <options/options.h>
using namespace std;
using std::cout;
using std::endl;
@@ -22,20 +25,16 @@ CameraWrapper::CameraWrapper(int camera_mode, const std::string &n):
bool CameraWrapper::init() {
CameraSdkInit(1);
//枚举设备，并建立设备列表
int camera_enumerate_device_status = CameraEnumerateDevice(camera_enum_list, &camera_cnts);
int camera_enumerate_device_status = CameraEnumerateDevice(camera_enum_list, &camera_cnts);
if(camera_enumerate_device_status != CAMERA_STATUS_SUCCESS){
LOGE("CameraEnumerateDevice fail with %d!", camera_enumerate_device_status);
}
//没有连接设备
if (camera_cnts == 0) {
LOGE("No camera device detected!");
return false;
}else if(camera_cnts >= 1){
LOGM("%d camera device detected!", camera_cnts);
}
//相机初始化。初始化成功后，才能调用任何其他相机相关的操作接口
int i;
for(i=0; i<camera_cnts; i++){
camera_status = CameraInit(&camera_enum_list[i], -1, -1, &h_camera);
@@ -54,15 +53,26 @@ bool CameraWrapper::init() {
return false;
}
//获得相机的特性描述结构体。该结构体中包含了相机可设置的各种参数的范围信息。决定了相关函数的参数
CameraGetCapability(h_camera, &tCapability);
// set resolution to 320*240
// CameraSetImageResolution(hCamera, &(tCapability.pImageSizeDesc[2]));
auto status = CameraGetCapability(h_camera, &tCapability);
if (status != CAMERA_STATUS_SUCCESS) {
cout << "CameraGetCapability return error code " << status << endl;
return false;
}
rgb_buffer = (unsigned char *)malloc(tCapability.sResolutionRange.iHeightMax *
tCapability.sResolutionRange.iWidthMax * 3);
if(mode == 0){
char filepath[200];
sprintf_s(filepath, PROJECT_DIR"/others/%s.Config", name.data());
if (CameraReadParameterFromFile(h_camera, filepath) != CAMERA_STATUS_SUCCESS) {
LOGE("Load parameter %s from file fail!", filepath);
return false;
}
if (CameraLoadParameter(h_camera, PARAMETER_TEAM_A) != CAMERA_STATUS_SUCCESS) {
LOGE("CameraLoadParameter %s fail!", filepath);
return false;
}
LOGM("successfully loaded %s!", filepath);
/* if(mode == 0){
// 不使用自动曝光
CameraSetAeState(h_camera, false);
// 曝光时间10ms
@@ -71,7 +81,7 @@ bool CameraWrapper::init() {
CameraGetExposureTime(h_camera, &t);
LOGM("Exposure time: %lfms", t/1000.0);
// 模拟增益4
CameraSetAnalogGain(h_camera, 63);
CameraSetAnalogGain(h_camera, 64);
// 使用预设LUT表
CameraSetLutMode(h_camera, LUTMODE_PRESET);
// 抗频闪
@@ -83,7 +93,7 @@ bool CameraWrapper::init() {
// 抗频闪
// CameraSetAntiFlick(h_camera, true);
}
*/
/*让SDK进入工作模式，开始接收来自相机发送的图像
数据。如果当前相机是触发模式，则需要接收到
触发帧以后才会更新图像。 */
@@ -95,7 +105,7 @@ bool CameraWrapper::init() {
CameraSetGamma、CameraSetContrast、CameraSetGain等设置图像伽马、对比度、RGB数字增益等等。
CameraGetFriendlyName CameraSetFriendlyName 获取/设置相机名称（该名称可写入相机硬件）
*/
cout << tCapability.sIspCapacity.bMonoSensor << endl;
if (tCapability.sIspCapacity.bMonoSensor) {
channel = 1;
CameraSetIspOutFormat(h_camera, CAMERA_MEDIA_TYPE_MONO8);
@@ -140,18 +150,15 @@ bool CameraWrapper::readRaw(cv::Mat &src) {
}
bool CameraWrapper::readProcessed(cv::Mat &src) {
if (CameraGetImageBuffer(h_camera, &frame_info, &pby_buffer, 1000) == CAMERA_STATUS_SUCCESS){
CameraImageProcess(h_camera, pby_buffer, rgb_buffer, &frame_info); // this function is super slow, better not to use it.
// cerr << "Get-1" << endl;
if (CameraGetImageBuffer(h_camera, &frame_info, &pby_buffer, 1000) == CAMERA_STATUS_SUCCESS){
CameraImageProcess(h_camera, pby_buffer, rgb_buffer, &frame_info); // this function is super slow, better not to use it.
if (iplImage) {
cvReleaseImageHeader(&iplImage);
}
iplImage = cvCreateImageHeader(cvSize(frame_info.iWidth, frame_info.iHeight), IPL_DEPTH_8U, channel);
cvSetData(iplImage, rgb_buffer, frame_info.iWidth * channel); //此处只是设置指针，无图像块数据拷贝，不需担心转换效率
src = cv::cvarrToMat(iplImage).clone();
//在成功调用CameraGetImageBuffer后，必须调用CameraReleaseImageBuffer来释放获得的buffer。
//否则再次调用CameraGetImageBuffer时，程序将被挂起一直阻塞，直到其他线程中调用CameraReleaseImageBuffer来释放了buffer
CameraReleaseImageBuffer(h_camera, pby_buffer);

170
others/src/serial/serial.cpp Normal file
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@@ -0,0 +1,170 @@
#include <serial/serial.h>
#include <options/options.h>
#include <log.h>
using namespace std;
#include <iostream>
Serial::Serial(UINT portNo, UINT baud, char parity, UINT databits, UINT stopsbits, DWORD dwCommEvents) :
hComm(INVALID_HANDLE_VALUE),
portNo(portNo),
parity(parity),
databits(databits),
stopsbits(stopsbits),
dwCommEvents(dwCommEvents){
if (wait_uart) {
LOGM("Waiting for serial COM%d", portNo);
while (InitPort(portNo, baud, parity, databits, stopsbits, dwCommEvents) == false);
LOGM("Port COM%d open success!", portNo);
} else {
if (InitPort(portNo, baud, parity, databits, stopsbits, dwCommEvents)) {
LOGM("Port COM%d open success!", portNo);
} else {
LOGE("Port COM%d open fail!", portNo);
}
}
}
Serial::~Serial() {
ClosePort();
}
void Serial::ErrorHandler() {
if (wait_uart) {
LOGE("Serial COM%d offline, waiting for serial COM%d", portNo, portNo);
while (InitPort(portNo, baud, parity, databits, stopsbits, dwCommEvents) == false);
LOGM("Port COM%d reopen success!", portNo);
}
}
bool Serial::openPort(UINT portNo) {
char szPort[50];
sprintf_s(szPort, "COM%d", portNo);
/** <20><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD> */
hComm = CreateFileA(szPort, /** <20>豸<EFBFBD><E8B1B8>,COM1,COM2<4D><32> */
GENERIC_READ | GENERIC_WRITE, /** <20><><EFBFBD><EFBFBD>ģʽ,<2C><>ͬʱ<CDAC><CAB1>д */
0, /** <20><><EFBFBD><EFBFBD>ģʽ,0<><30>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
NULL, /** <20><>ȫ<EFBFBD><C8AB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,һ<><D2BB>ʹ<EFBFBD><CAB9>NULL */
OPEN_EXISTING, /** <20>ò<EFBFBD><C3B2><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD>򴴽<EFBFBD>ʧ<EFBFBD><CAA7> */
0,
0);
return hComm != INVALID_HANDLE_VALUE;
}
void Serial::ClosePort() {
/** <20><><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD><D0B4>ڱ<EFBFBD><DAB1>򿪣<EFBFBD><F2BFAAA3>ر<EFBFBD><D8B1><EFBFBD> */
if (hComm != INVALID_HANDLE_VALUE) {
CloseHandle(hComm);
hComm = INVALID_HANDLE_VALUE;
}
}
bool Serial::InitPort(UINT portNo, UINT baud, char parity, UINT databits, UINT stopsbits, DWORD dwCommEvents) {
/** <20><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>,<2C><><EFBFBD>ƶ<EFBFBD><C6B6><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD>ַ<EFBFBD><D6B7><EFBFBD><EFBFBD><EFBFBD>ʽ,<2C>Թ<EFBFBD><D4B9><EFBFBD>DCB<43>ṹ */
char szDCBparam[50];
sprintf_s(szDCBparam, "baud=%d parity=%c data=%d stop=%d", baud, parity, databits, stopsbits);
if (!openPort(portNo)){
cout << "open error!" << endl;
return false;
}
BOOL bIsSuccess = TRUE;
COMMTIMEOUTS CommTimeouts;
CommTimeouts.ReadIntervalTimeout = 0;
CommTimeouts.ReadTotalTimeoutMultiplier = 0;
CommTimeouts.ReadTotalTimeoutConstant = 0;
CommTimeouts.WriteTotalTimeoutMultiplier = 0;
CommTimeouts.WriteTotalTimeoutConstant = 0;
if (bIsSuccess) {
bIsSuccess = SetCommTimeouts(hComm, &CommTimeouts);
} else {
cout << "SetCommTimeouts error!" << endl;
}
DCB dcb;
if (bIsSuccess) {
/** <20><>ȡ<EFBFBD><C8A1>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ò<EFBFBD><C3B2><EFBFBD>,<2C><><EFBFBD>ҹ<EFBFBD><D2B9>촮<EFBFBD><ECB4AE>DCB<43><42><EFBFBD><EFBFBD> */
bIsSuccess = GetCommState(hComm, &dcb);
bIsSuccess = BuildCommDCB(szDCBparam, &dcb);
if (!bIsSuccess) {
cout << "Create dcb fail with "<< GetLastError() << endl;
}
/** <20><><EFBFBD><EFBFBD>RTS flow<6F><77><EFBFBD><EFBFBD> */
dcb.fRtsControl = RTS_CONTROL_ENABLE;
}
if (bIsSuccess) {
/** ʹ<><CAB9>DCB<43><42><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ô<EFBFBD><C3B4><EFBFBD>״̬ */
bIsSuccess = SetCommState(hComm, &dcb);
if (!bIsSuccess) {
cout << "SetCommState error!" << endl;
}
}
/** <20><><EFBFBD>մ<EFBFBD><D5B4>ڻ<EFBFBD><DABB><EFBFBD><EFBFBD><EFBFBD> */
PurgeComm(hComm, PURGE_RXCLEAR | PURGE_TXCLEAR | PURGE_RXABORT | PURGE_TXABORT);
return bIsSuccess;
}
UINT Serial::GetBytesInCOM() const {
DWORD dwError = 0; /** <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
COMSTAT comstat; /** COMSTAT<41>ṹ<EFBFBD><E1B9B9>,<2C><>¼ͨ<C2BC><CDA8><EFBFBD>豸<EFBFBD><E8B1B8>״̬<D7B4><CCAC>Ϣ */
memset(&comstat, 0, sizeof(COMSTAT));
UINT BytesInQue = 0;
/** <20>ڵ<EFBFBD><DAB5><EFBFBD>ReadFile<6C><65>WriteFile֮ǰ,ͨ<><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>־ */
if (ClearCommError(hComm, &dwError, &comstat)) {
BytesInQue = comstat.cbInQue; /** <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD>뻺<EFBFBD><EBBBBA><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD><D0B5>ֽ<EFBFBD><D6BD><EFBFBD> */
}
return BytesInQue;
}
bool Serial::WriteData(const unsigned char* pData, unsigned int length) {
if (hComm == INVALID_HANDLE_VALUE) {
ErrorHandler();
return false;
}
/** <20>򻺳<EFBFBD><F2BBBAB3><EFBFBD>д<EFBFBD><D0B4>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
BOOL bResult = TRUE;
DWORD BytesToSend = 0;
bResult = WriteFile(hComm, pData, length, &BytesToSend, NULL);
if (!bResult) {
DWORD dwError = GetLastError();
/** <20><><EFBFBD>մ<EFBFBD><D5B4>ڻ<EFBFBD><DABB><EFBFBD><EFBFBD><EFBFBD> */
PurgeComm(hComm, PURGE_RXCLEAR | PURGE_RXABORT);
ErrorHandler();
return false;
}
return true;
}
bool Serial::ReadData(unsigned char *buffer, unsigned int length) {
if (hComm == INVALID_HANDLE_VALUE) {
ErrorHandler();
return false;
}
/** <20>ӻ<EFBFBD><D3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡlength<74>ֽڵ<D6BD><DAB5><EFBFBD><EFBFBD><EFBFBD> */
BOOL bResult = TRUE;
DWORD totalRead = 0, onceRead = 0;
while (totalRead < length) {
bResult = ReadFile(hComm, buffer, length-totalRead, &onceRead, NULL);
totalRead += onceRead;
if ((!bResult)) {
/** <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD>Ը<EFBFBD><D4B8>ݸô<DDB8><C3B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭ<EFBFBD><D4AD> */
DWORD dwError = GetLastError();
/** <20><><EFBFBD>մ<EFBFBD><D5B4>ڻ<EFBFBD><DABB><EFBFBD><EFBFBD><EFBFBD> */
PurgeComm(hComm, PURGE_RXCLEAR | PURGE_RXABORT);
ErrorHandler();
return false;
}
}
return bResult;
}

183
others/src/uart/uart.cpp
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@@ -1,183 +0,0 @@
//
// Created by xixiliadorabarry on 1/24/19.
//
#include <uart/uart.h>
#include <energy/param_struct_define.h>
#include <options/options.h>
#include <log.h>
using namespace std;
GMAngle_t aim;
string get_uart_dev_name(){
FILE* ls = popen("ls /dev/ttyUSB* --color=never", "r");
char name[20] = {0};
fscanf(ls, "%s", name);
return name;
}
Uart::Uart(){
if(wait_uart){
string name;
do{
name = get_uart_dev_name();
if(name == ""){
continue;
}
}while((fd=open(name.data(), O_RDWR)) < 0);
}else{
string name = get_uart_dev_name();
if(name == ""){
cerr<<"open port error"<<endl;
return;
}
fd = open(name.data(), O_RDWR);
if(fd < 0) {
cerr<<"open port error"<<endl;
return;
}
}
// fd = open("/dev/ttyUSB1", O_RDWR);
// if(fd < 0) {
// cerr<<"open port error"<<endl;
// return;
// }
if(set_opt(fd, 115200, 8, 'N', 1) < 0 )
{
cerr<<"set opt error"<<endl;
return;
}
cout << "uart port success" << endl;
buff[0] = 's';
buff[1] = '+';
buff[2] = (0 >> 8) & 0xFF;
buff[3] = 0 & 0xFF;
buff[4] = '+';
buff[5] = (0 >> 8) & 0xFF;
buff[6] = (0 & 0xFF);
buff[7] = 'e';
fps = 0;
cur_time = time(nullptr);
}
int Uart::set_opt(int fd, int nSpeed, int nBits, char nEvent, int nStop) {
termios newtio{}, oldtio{};
if (tcgetattr(fd, &oldtio) != 0) {
perror("SetupSerial 1");
return -1;
}
bzero(&newtio, sizeof(newtio));
newtio.c_cflag |= CLOCAL | CREAD;
newtio.c_cflag &= ~CSIZE;
switch (nBits) {
case 7:
newtio.c_cflag |= CS7;break;
case 8:
newtio.c_cflag |= CS8;break;
default:break;
}
switch (nEvent) {
case 'O': //奇校验
newtio.c_cflag |= PARENB;
newtio.c_cflag |= PARODD;
newtio.c_iflag |= (INPCK | ISTRIP);
break;
case 'E': //偶校验
newtio.c_iflag |= (INPCK | ISTRIP);
newtio.c_cflag |= PARENB;
newtio.c_cflag &= ~PARODD;
break;
case 'N': //无校验
newtio.c_cflag &= ~PARENB;
break;
default:break;
}
switch (nSpeed) {
case 2400:
cfsetispeed(&newtio, B2400);
cfsetospeed(&newtio, B2400);
break;
case 4800:
cfsetispeed(&newtio, B4800);
cfsetospeed(&newtio, B4800);
break;
case 9600:
cfsetispeed(&newtio, B9600);
cfsetospeed(&newtio, B9600);
break;
case 115200:
cfsetispeed(&newtio, B115200);
cfsetospeed(&newtio, B115200);
break;
default:
cfsetispeed(&newtio, B9600);
cfsetospeed(&newtio, B9600);
break;
}
if (nStop == 1) {
newtio.c_cflag &= ~CSTOPB;
} else if (nStop == 2) {
newtio.c_cflag |= CSTOPB;
}
newtio.c_cc[VTIME] = 0;
newtio.c_cc[VMIN] = 0;
tcflush(fd, TCIFLUSH);
if ((tcsetattr(fd, TCSANOW, &newtio)) != 0) {
perror("com set error");
return -1;
}
printf("set done!\n");
return 0;
}
void Uart::sendTarget(float x, float y, float z) {
static short x_tmp, y_tmp, z_tmp;
time_t t = time(nullptr);
if(cur_time != t)
{
cur_time = t;
cout<<"fps:"<<fps<<", ("<<x<<","<<y<<","<<z<<")"<<endl;
fps = 0;
}
fps += 1;
x_tmp= static_cast<short>(x * (32768 - 1) / 100);
y_tmp= static_cast<short>(y * (32768 - 1) / 100);
z_tmp= static_cast<short>(z * (32768 - 1) / 1000);
buff[0] = 's';
buff[1] = static_cast<char>((x_tmp >> 8) & 0xFF);
buff[2] = static_cast<char>((x_tmp >> 0) & 0xFF);
buff[3] = static_cast<char>((y_tmp >> 8) & 0xFF);
buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF);
buff[5] = static_cast<char>((z_tmp >> 8) & 0xFF);
buff[6] = static_cast<char>((z_tmp >> 0) & 0xFF);
buff[7] = 'e';
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() {
uint8_t data;
while(read(fd, &data, 1) < 1);
return data;
}