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修复数据接收的BUG。

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This commit is contained in:
xinyang
2019-05-02 21:25:55 +08:00
parent ee83a373d3
commit 86e04d444c
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) PROJECT(AutoAim)
SET(CMAKE_CXX_STANDARD 11) SET(CMAKE_CXX_STANDARD 11)
SET(CMAKE_BUILD_TYPE RELEASE) 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) FIND_PROGRAM(CCACHE_FOUND ccache)
IF(CCACHE_FOUND) IF(CCACHE_FOUND)

19
main.cpp
View File

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