统一跨平台时间函数接口。

energy/include/energy/constant.h

@@ -1,20 +1,20 @@
-//
-// Created by xixiliadorabarry on 1/24/19.
-//
-#ifndef CONSTANT_H
-#define CONSTANT_H
-
-#include "additions/additions.h"
-const int BIG = 1;
-const int SMALL = 0;
-const int SRC_WIDTH = 320;
-const int SRC_HEIGHT = 240;
-const int CLOCKWISE = 1;
-const int ANTICLOCKWISE = -1;
-//const float ATTACK_DISTANCE = 718.0;//cm
-const float ATTACK_DISTANCE = 750.0;//cm
-const double ARMOR_CENTER_TO_CYCLE_CENTER = 75.0;//cm
-
-
-#endif //CONSTANT_H
-
+//
+// Created by xixiliadorabarry on 1/24/19.
+//
+#ifndef CONSTANT_H
+#define CONSTANT_H
+
+#include "additions.h"
+const int BIG = 1;
+const int SMALL = 0;
+const int SRC_WIDTH = 320;
+const int SRC_HEIGHT = 240;
+const int CLOCKWISE = 1;
+const int ANTICLOCKWISE = -1;
+//const float ATTACK_DISTANCE = 718.0;//cm
+const float ATTACK_DISTANCE = 750.0;//cm
+const double ARMOR_CENTER_TO_CYCLE_CENTER = 75.0;//cm
+
+
+#endif //CONSTANT_H
+

energy/include/energy/energy.h

@@ -13,12 +13,12 @@
 #include <constants.h>
 #include <stdio.h>
 #include <time.h>
-#include <sys/timeb.h>
+#include <systime.h>
 #include "energy/constant.h"
 #include "energy/param_struct_define.h"
-#include "serial/serial.h"
-#include "additions/additions.h"
-#include "options/options.h"
+#include "serial.h"
+#include "additions.h"
+#include "options.h"
 
 using std::vector;
 
@@ -87,7 +87,7 @@ private:
     float shoot;//若为2，则要求主控板发弹
     float sum_yaw, sum_pitch;//yaw和pitch的累计误差，即PID中积分项
 
-    timeval time_start_guess;
+    systime time_start_guess;
 
     cv::RotatedRect centerR;//风车中心字母R的可能候选区
     cv::RotatedRect flow_strip;//图像中所有流动条（理论上只有一个）

energy/src/energy/judge/judge_shoot.cpp

@@ -19,7 +19,7 @@ void Energy::judgeShootInWorld() {
 //        is_predicting = false;
 //        is_guessing = true;
 //        start_guess = true;
-//        gettimeofday(&time_start_guess, NULL);
+//        getsystime(time_start_guess);
         LOGM(STR_CTR(WORD_LIGHT_RED, "Start Guessing!"));
     } else
         shoot = 2;
@@ -35,7 +35,7 @@ void Energy::judgeShootInGimbal() {
 //        is_predicting = false;
 //        is_guessing = true;
 //        start_guess = true;
-//        gettimeofday(&time_start_guess, NULL);
+//        getsystime(time_start_guess);
 //        LOGM(STR_CTR(WORD_LIGHT_RED, "Start Guessing!"));
     } else
         shoot = 2;

energy/src/energy/judge/judge_time.cpp

@@ -14,8 +14,7 @@ using namespace cv;
 // 此函数用于判断guess模式是否超时
 // ---------------------------------------------------------------------------------------------------------------------
 bool Energy::isGuessingTimeout() {
-    timeval cur_time;
-    gettimeofday(&cur_time, NULL);
-    return (cur_time.tv_sec - time_start_guess.tv_sec) * 1000.0 +
-           (cur_time.tv_usec - time_start_guess.tv_usec) / 1000.0 > 1000;
+    systime cur_time;
+    getsystime(cur_time);
+    return getTimeIntervalms(cur_time, time_start_guess) > 1000;
 };

energy/src/energy/run.cpp

@@ -4,8 +4,7 @@
 #include "energy/energy.h"
 #include "log.h"
 #include "config/setconfig.h"
-#include "options/options.h"
-#include <sys/time.h>
+#include "options.h"
 
 using namespace std;
 using namespace cv;