统一跨平台时间函数接口。

armor/include/armor_finder/armor_finder.h

@@ -6,13 +6,13 @@
 #define _ARMOR_FINDER_H_
 
 #include <map>
-#include <sys/time.h>
+#include <systime.h>
 #include <constants.h>
 #include <opencv2/core.hpp>
 #include <opencv2/tracking.hpp>
-#include <serial/serial.h>
+#include <serial.h>
 #include <armor_finder/classifier/classifier.h>
-#include <additions/additions.h>
+#include <additions.h>
 
 #define BLOB_RED    ENEMY_RED
 #define BLOB_BLUE   ENEMY_BLUE
@@ -111,7 +111,7 @@ private:
         INCREASE, DECREASE, NOCHANGE
     } BoxRatioChangeType;
 
-    timeval frame_time;                                 // 当前帧对应时间;
+    systime frame_time;                                 // 当前帧对应时间;
     const uint8_t &enemy_color;                         // 敌方颜色，引用外部变量，自动变化
     State state;                                        // 自瞄状态对象实例
     ArmorBox armor_box;                                 // 当前目标装甲板
@@ -123,7 +123,7 @@ private:
     const uint8_t &use_classifier;                      // 标记是否启用CNN分类器，引用外部变量，自动变化
     RoundQueue<double, 4> top_periodms;
     RoundQueue<double, 5> box_ratioes;
-    timeval last_front_time;                            // 上一次发生装甲板方向切换的时间
+    systime last_front_time;                            // 上一次发生装甲板方向切换的时间
     BoxRatioChangeType last_ratio_type;
     int anti_top_cnt;                                   // 满足条件的装甲板方向切换持续次数，用于反陀螺
     AntiTopState anti_top_state;                        // 当前是否识别到陀螺

armor/src/armor_finder/anti_top/anti_top.cpp

@@ -3,7 +3,7 @@
 //
 
 #include <armor_finder/armor_finder.h>
-#include <additions/additions.h>
+#include <additions.h>
 #include <log.h>
 
 static double boxDistance(const cv::Rect2d &a, const cv::Rect2d &b) {
@@ -53,8 +53,8 @@ void ArmorFinder::antiTop() {
             if (anti_top_state == ANTI_TOP) {
                 top_periodms.push(interval);
                 LOGM(STR_CTR(WORD_LIGHT_GREEN, "top period: %.1lf ms"), interval);
-                timeval curr_time;
-                gettimeofday(&curr_time, nullptr);
+                systime curr_time;
+                getsystime(curr_time);
                 auto calculate_time = getTimeIntervalms(curr_time, frame_time);
                 shoot_delay = mean(top_periodms) - calculate_time;
             } else if (anti_top_state == NORMAL) {

armor/src/armor_finder/armor_finder.cpp

@@ -17,11 +17,10 @@
 
 #define LOG_LEVEL LOG_NONE
 #include <log.h>
-#include <options/options.h>
+#include <options.h>
 #include <show_images/show_images.h>
 #include <opencv2/highgui.hpp>
 #include <armor_finder/armor_finder.h>
-#include <sys/time.h>
 
 std::map<int, string> id2name = {                               //装甲板id到名称的map
         {-1, "OO"},{ 0, "NO"},
@@ -58,7 +57,7 @@ ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder,
 }
 
 void ArmorFinder::run(cv::Mat &src) {
-    gettimeofday(&frame_time, nullptr);
+    getsystime(frame_time);
 //    stateSearchingTarget(src);                    // for debug
 //    goto end;
     switch (state) {

armor/src/armor_finder/find/find_armor_box.cpp

@@ -4,7 +4,7 @@
 
 #include <armor_finder/armor_finder.h>
 #include <show_images/show_images.h>
-#include <options/options.h>
+#include <options.h>
 #include <opencv2/highgui.hpp>
 #define DO_NOT_CNT_TIME
 #include <log.h>

armor/src/armor_finder/find/find_light_blobs.cpp

@@ -3,7 +3,7 @@
 //
 
 #include <armor_finder/armor_finder.h>
-#include <options/options.h>
+#include <options.h>
 #include <opencv2/highgui.hpp>
 
 static double lw_rate(const cv::RotatedRect &rect) {

armor/src/armor_finder/searching_state/searching_state.cpp

@@ -4,7 +4,7 @@
 
 #include <armor_finder/armor_finder.h>
 #include <show_images/show_images.h>
-#include <options/options.h>
+#include <options.h>
 #include <log.h>
 
 bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {

armor/src/armor_finder/tracking_state/tracking_state.cpp

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

armor/src/show_images/show_images.cpp

@@ -1,6 +1,6 @@
 #include <show_images/show_images.h>
 #include <opencv2/highgui.hpp>
-#include <options/options.h>
+#include <options.h>
 #include <log.h>
 
 using namespace cv;

energy/include/energy/constant.h

@@ -4,7 +4,7 @@
 #ifndef CONSTANT_H
 #define CONSTANT_H
 
-#include "additions/additions.h"
+#include "additions.h"
 const int BIG = 1;
 const int SMALL = 0;
 const int SRC_WIDTH = 320;

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;

main.cpp

@@ -10,14 +10,14 @@
 #include <iostream>
 #include <thread>
 #include <opencv2/core/core.hpp>
-#include <serial/serial.h>
+#include <serial.h>
 #include <camera/camera_wrapper.h>
 #include <camera/video_wrapper.h>
 #include <camera/wrapper_head.h>
 #include <energy/energy.h>
 #include <armor_finder/armor_finder.h>
-#include <options/options.h>
-#include <additions/additions.h>
+#include <options.h>
+#include <additions.h>
 #include <config/setconfig.h>
 
 #define DO_NOT_CNT_TIME

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