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energy changed a lot

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sun
2019-08-13 22:36:26 +08:00
parent 05527de9e2
commit 9d94de939b
32 changed files with 282 additions and 1363 deletions
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124
main.cpp
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@@ -30,7 +30,7 @@ using namespace std;
McuData mcu_data = { // 单片机端回传结构体
0, // 当前云台yaw角
0, // 当前云台pitch角
BIG_ENERGY_STATE, // 当前状态，自瞄-大符-小符
ARMOR_STATE, // 当前状态，自瞄-大符-小符
0, // 云台角度标记位
0, // 是否为反陀螺模式
ENEMY_RED, // 敌方颜色
@@ -38,11 +38,10 @@ McuData mcu_data = { // 单片机端回传结构体
0, // 能量机关y轴补偿量
};
WrapperHead *video_gimbal = nullptr; // 云台摄像头视频源
WrapperHead *video_chassis = nullptr; // 底盘摄像头视频源
WrapperHead *video = nullptr; // 云台摄像头视频源
Serial serial(115200); // 串口对象
uint8_t last_state = INIT_STATE; // 上次状态，用于初始化
uint8_t last_state = ARMOR_STATE; // 上次状态，用于初始化
// 自瞄主程序对象
ArmorFinder armor_finder(mcu_data.enemy_color, serial, PROJECT_DIR"/tools/para/", mcu_data.anti_top);
// 能量机关主程序对象
@@ -63,31 +62,21 @@ int main(int argc, char *argv[]) {
while (true) {
// 打开视频源
if (from_camera) {
video_gimbal = new CameraWrapper(ARMOR_CAMERA_EXPOSURE, ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
video_chassis = new CameraWrapper(ENERGY_CAMERA_EXPOSURE, ENERGY_CAMERA_GAIN, 2/*, "energy"*/);
video = new CameraWrapper(ARMOR_CAMERA_EXPOSURE, ARMOR_CAMERA_GAIN, 2);
} else {
video_gimbal = new VideoWrapper(PROJECT_DIR"/test_video/blue_small.avi");
video_chassis = new VideoWrapper(PROJECT_DIR"/test_video/red_small.avi");
video = new VideoWrapper(PROJECT_DIR"/video/blue_big.avi");
}
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
if (video->init()) {
LOGM("video_source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
}
if (video_chassis->init()) {
LOGM("video_chassis source initialization successfully.");
} else {
LOGW("video_chassis source unavailable!");
LOGW("video_source unavailable!");
}
// 跳过前10帧噪声图像。
Mat gimbal_src, chassis_src;
Mat src;
for (int i = 0; i < 10; i++) {
if (video_gimbal) {
video_gimbal->read(gimbal_src);
}
if (video_chassis) {
video_chassis->read(chassis_src);
if (video) {
video->read(src);
}
}
bool ok = true;
@@ -95,71 +84,46 @@ int main(int argc, char *argv[]) {
do {
char curr_state = mcu_data.state;
CNT_TIME("Total", {
if (curr_state == BIG_ENERGY_STATE) {//大能量机关模式
if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化
LOGM(STR_CTR(WORD_BLUE, "Start Big Energy!"));
if (curr_state != ARMOR_STATE) {//大能量机关模式
if (last_state == ARMOR_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化
destroyAllWindows();
if (from_camera) {
delete video_gimbal;
video_gimbal = new CameraWrapper(ENERGY_CAMERA_EXPOSURE, ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
if (video_gimbal->init()) {
delete video;
video = new CameraWrapper(ENERGY_CAMERA_EXPOSURE, ENERGY_CAMERA_GAIN, 2);
if (video->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
}
}
// checkReconnect(video_chassis->read(chassis_src));
energy.setBigEnergyInit();
}
last_state = curr_state;//更新上一帧状态
ok = checkReconnect(video_gimbal->read(gimbal_src));
// video_chassis->read(chassis_src);
#ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
#endif
//#ifdef CHASSIS_FLIP_MODE
// flip(chassis_src, chassis_src, CHASSIS_FLIP_MODE);
//#endif
// if (!from_camera) extract(gimbal_src, chassis_src);
// if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频
// if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像
if (!from_camera) extract(gimbal_src);
if (save_video) saveVideos(gimbal_src);//保存视频
if (show_origin) showOrigin(gimbal_src);//显示原始图像
// energy.runBig(gimbal_src, chassis_src);
energy.runBig(gimbal_src);
} else if (curr_state == SMALL_ENERGY_STATE) {
if (last_state != SMALL_ENERGY_STATE) {
LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!"));
destroyAllWindows();
if (from_camera) {
delete video_gimbal;
video_gimbal = new CameraWrapper(ENERGY_CAMERA_EXPOSURE, ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
}
if(curr_state == BIG_ENERGY_STATE){
energy.is_small = false;
energy.is_big = true;
LOGM(STR_CTR(WORD_BLUE, "Start Big Energy!"));
} else if (curr_state == SMALL_ENERGY_STATE){
energy.is_small = true;
energy.is_big = false;
LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!"));
}
energy.setSmallEnergyInit();
energy.setEnergyInit();
}
last_state = curr_state;//更新上一帧状态
ok = checkReconnect(video_gimbal->read(gimbal_src));
ok = checkReconnect(video->read(src));
#ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
flip(src, src, GIMBAL_FLIP_MODE);
#endif
if (!from_camera) extract(gimbal_src);
if (save_video) saveVideos(gimbal_src);//保存视频
if (show_origin) showOrigin(gimbal_src);//显示原始图像
energy.runSmall(gimbal_src);
} else { // 自瞄模式
if (!from_camera) extract(src);
if (save_video) saveVideos(src);//保存视频
if (show_origin) showOrigin(src);//显示原始图像
energy.run(src);
} else { // 自瞄模式
if (last_state != ARMOR_STATE) {
LOGM(STR_CTR(WORD_RED, "Start Armor!"));
destroyAllWindows();
if (from_camera) {
delete video_gimbal;
video_gimbal = new CameraWrapper(ARMOR_CAMERA_EXPOSURE, ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
if (video_gimbal->init()) {
delete video;
video = new CameraWrapper(ARMOR_CAMERA_EXPOSURE, ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
if (video->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
@@ -168,27 +132,25 @@ int main(int argc, char *argv[]) {
}
last_state = curr_state;
CNT_TIME(STR_CTR(WORD_GREEN, "read img"), {
if(!checkReconnect(video_gimbal->read(gimbal_src))) continue;
if(!checkReconnect(video->read(src))) continue;
});
#ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
flip(src, src, GIMBAL_FLIP_MODE);
#endif
// CNT_TIME("something whatever", {
if (!from_camera) extract(gimbal_src);
if (save_video) saveVideos(gimbal_src);
if (show_origin) showOrigin(gimbal_src);
if (!from_camera) extract(src);
if (save_video) saveVideos(src);
if (show_origin) showOrigin(src);
// });
CNT_TIME(STR_CTR(WORD_CYAN, "Armor Time"), {
armor_finder.run(gimbal_src);
armor_finder.run(src);
});
}
// cv::waitKey(0);
});
} while (ok);
delete video_gimbal;
video_gimbal = nullptr;
delete video_chassis;
video_chassis = nullptr;
delete video;
video = nullptr;
cout << "Program fails. Restarting" << endl;
}
return 0;