统一跨平台时间函数接口。

others/include/additions.h

@@ -6,8 +6,8 @@
 #define _ADDITIONS_H_
 
 #include <stdint.h>
-#include <sys/time.h>
-#include <serial/serial.h>
+#include <systime.h>
+#include <serial.h>
 #include <opencv2/core.hpp>
 
 struct mcu_data {
@@ -41,7 +41,7 @@ void extract(cv::Mat &gimbal_src, cv::Mat &chassis_src);
 
 void extract(cv::Mat &gimbal_src);
 
-double getTimeIntervalms(const timeval &now, const timeval &last);
+float getTimeIntervalms(const systime &now, const systime &last);
 
 template<class type, int length>
 class RoundQueue {

others/include/camera/camera_wrapper.h

@@ -7,7 +7,7 @@
 #ifndef VIDEO_TEST1_CAMERA_WRAPPER_H
 #define VIDEO_TEST1_CAMERA_WRAPPER_H
 
-#include <additions/additions.h>
+#include <additions.h>
 #include <opencv2/core/core.hpp>
 #include <camera/wrapper_head.h>
 

others/include/systime.h

@@ -0,0 +1,23 @@
+//
+// Created by xinyang on 19-7-31.
+//
+
+#ifndef _PLATFORM_H_
+#define _PLATFORM_H_
+
+typedef struct{
+    int second;
+    int millisecond;
+} systime;
+
+void getsystime(systime &t);
+
+#if defined(Linux)
+    #include <sys/time.h>
+#elif defined(Windows)
+    #include <Windows.h>
+#else
+    #error "nonsupport platform."
+#endif
+
+#endif /* _PLATFORM_H_ */

others/src/additions.cpp

@@ -9,7 +9,7 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 #include <opencv2/videoio/videoio_c.h>
-#include <additions/additions.h>
+#include <additions.h>
 #include <camera/camera_wrapper.h>
 #include <energy/energy.h>
 #include <armor_finder/armor_finder.h>
@@ -170,6 +170,6 @@ void extract(cv::Mat &gimbal_src) {//图像预处理，将视频切成640×480
     }
 }
 
-double getTimeIntervalms(const timeval& now, const timeval &last){
-    return (now.tv_sec-last.tv_sec)*1000.0 + (now.tv_usec-last.tv_usec)/1000.0;
+float getTimeIntervalms(const systime &now, const systime &last){
+    return (now.second-last.second)*1000.0 + (now.millisecond-last.millisecond);
 }

others/src/camera/camera_wrapper.cpp

@@ -4,8 +4,8 @@
 #include <iostream>
 #include <camera/camera_wrapper.h>
 #include <log.h>
-#include <additions/additions.h>
-#include <options/options.h>
+#include <additions.h>
+#include <options.h>
 #include <config/setconfig.h>
 
 using namespace std;
@@ -86,35 +86,7 @@ bool CameraWrapper::init() {
     CameraLoadParameter(h_camera, PARAMETER_TEAM_A);
     CameraSetAeState(h_camera, false);
     CameraSetExposureTime(h_camera, CAMERA_EXPOSURE * 1000);
-#ifndef WITH_TIME_BASED_CAMERA_GAIN
     CameraSetAnalogGain(h_camera, gain);
-#else
-
-#include <sys/time.h>
-
-    timeval tv;
-    int gain;
-    gettimeofday(&tv, nullptr);
-    float hour = (tv.tv_sec % (3600 * 24)) / 3600.0;
-    if (6 <= hour && hour < 10) {
-        gain = 20;
-        LOGM("Set gain to morning 20");
-    } else if (10 <= hour && hour < 16) {
-        gain = 10;
-        LOGM("Set gain to day 10");
-    } else if (16 <= hour && hour < 17) {
-        gain = 20;
-        LOGM("Set gain to early evening 20");
-    } else if (17 <= hour && hour < 18) {
-        gain = 40;
-        LOGM("Set gain to evening 40");
-    } else {
-        gain = 50;
-        LOGM("Set gain to early night 50");
-    }
-    CameraSetAnalogGain(h_camera, gain);
-#endif
-
 #endif
     double t;
     int g;
@@ -204,10 +176,10 @@ bool CameraWrapper::readProcessed(cv::Mat &src) {
 }
 
 bool CameraWrapper::readCallback(cv::Mat &src) {
-    timeval ts, te;
-    gettimeofday(&ts, NULL);
+    systime ts, te;
+    getsystime(ts);
     while(src_queue.empty()){
-        gettimeofday(&te, NULL);
+        getsystime(te);
         if(getTimeIntervalms(te, ts) > 500){
             return false;
         }

others/src/options.cpp

@@ -2,7 +2,7 @@
 // Created by xinyang on 19-3-27.
 //
 
-#include <options/options.h>
+#include <options.h>
 #include <log.h>
 #include <cstring>
 

others/src/serial.cpp

@@ -1,5 +1,5 @@
-#include <serial/serial.h>
-#include <options/options.h>
+#include <serial.h>
+#include <options.h>
 #include <iostream>
 
 //#define LOG_LEVEL LOG_NONE