energy changed

energy/src/energy/calibrate/structing.cpp

@@ -17,7 +17,8 @@ using std::vector;
 void Energy::FanStruct(cv::Mat &src) {
     Mat element_dilate_1 = getStructuringElement(MORPH_RECT, Size(5, 5));
     Mat element_erode_1 = getStructuringElement(MORPH_RECT, Size(2, 2));
-    Mat element_dilate_2 = getStructuringElement(MORPH_RECT, Size(3, 3));
+    Mat element_dilate_2 = getStructuringElement(MORPH_RECT,
+            Size(3, 3));
     Mat element_erode_2 = getStructuringElement(MORPH_RECT, Size(2 , 2));
     Mat element_dilate_3 = getStructuringElement(MORPH_RECT, Size(3, 3));
     Mat element_erode_3 = getStructuringElement(MORPH_RECT, Size(1 , 1));

energy/src/energy/judge/judge_shoot.cpp

@@ -39,6 +39,5 @@ void Energy::judgeShootInGimbal() {
 //        LOGM(STR_CTR(WORD_LIGHT_RED, "Start Guessing!"));
     } else
         shoot = 2;
-
 //    cout << "yaw: " << yaw_rotation << '\t' << "pitch: " << pitch_rotation << endl;
 }

energy/src/energy/mark/mark.cpp

@@ -37,6 +37,7 @@ void Energy::writeDownSlightChange(cv::Mat &src) {
             }
             fprintf(fp_data, "fps: %d\t", curr_fps);
             fprintf(fp_data, "fans_cnt: %d\t", fans_cnt);
+            fprintf(fp_data, "shoot: %d\t", int(shoot));
             fprintf(fp_data, "yaw: %lf , pitch: %lf\t", yaw_rotation, pitch_rotation);
             fprintf(fp_data, "delta_x: %d, delta_y: %d\n", mcu_data.delta_x + manual_delta_x,
                     mcu_data.delta_y + manual_delta_y);

energy/src/energy/run.cpp

@@ -107,13 +107,13 @@ void Energy::runBig(cv::Mat &gimbal_src) {
         initRotation();
         return;
     }
-    if (save_mark)writeDownSlightChange(gimbal_src);
     getPredictPoint(target_point);
     getAimPoint(predict_point);
 //    cout << "yaw: " << yaw_rotation << '\t' << "pitch: " << pitch_rotation << '\t' << "shoot: " << shoot << endl;
 //    waitKey(0);
     judgeShootInGimbal();
     sendEnergy();
+    if (save_mark)writeDownSlightChange(gimbal_src);
 }
 
 
@@ -133,7 +133,11 @@ void Energy::runSmall(cv::Mat &gimbal_src) {
     } else {
         if (show_energy)showFlowStripFan("strip fan", gimbal_src);
         if (!findTargetInFlowStripFan()) return;
-        if (!findFlowStrip(gimbal_src)) return;
+        if (!findFlowStrip(gimbal_src)) {
+            if(!findFlowStripSub(gimbal_src)) {
+                return;
+            }
+        }
     }
     if (show_energy)showTarget("target", gimbal_src);
     fans_cnt = findFans(gimbal_src);
@@ -144,11 +148,11 @@ void Energy::runSmall(cv::Mat &gimbal_src) {
 //    return;
 
     changeTarget();
-    if (save_mark)writeDownSlightChange(gimbal_src);
     getPredictPoint(target_point);
     getAimPoint(predict_point);
     judgeShootInGimbal();
     sendEnergy();
+    if (save_mark)writeDownSlightChange(gimbal_src);
 }
 
 

main.cpp

@@ -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
-        ARMOR_STATE,    // 当前状态，自瞄-大符-小符
+        SMALL_ENERGY_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
@@ -66,8 +66,8 @@ int main(int argc, char *argv[]) {
             video_gimbal = new CameraWrapper(ARMOR_CAMERA_EXPOSURE, ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
             video_chassis = new CameraWrapper(ENERGY_CAMERA_EXPOSURE, ENERGY_CAMERA_GAIN, 2/*, "energy"*/);
         } else {
-            video_gimbal = new VideoWrapper(PROJECT_DIR"/8-7-NO7.avi");
+            video_gimbal = new VideoWrapper(PROJECT_DIR"/test_video/red_big.avi");
-            video_chassis = new VideoWrapper(PROJECT_DIR"/8-7-NO7.avi");
+            video_chassis = new VideoWrapper(PROJECT_DIR"/test_video/red_small.avi");
         }
         if (video_gimbal->init()) {
             LOGM("video_gimbal source initialization successfully.");