VSAG/amadeus_26_fb
3
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Merge branch 'master' into win32

Browse Source
This commit is contained in:
xinyang
2019-05-15 16:47:45 +08:00
committed by GitHub
parent 0d6aae81b8 f9eab62680
commit c2d2fd9c8a
12 changed files with 253 additions and 77 deletions
Download Patch File Download Diff File Expand all files Collapse all files

21
CMakeLists.txt
View File

@@ -5,6 +5,8 @@ SET(CMAKE_CXX_STANDARD 11)
SET(CMAKE_BUILD_TYPE RELEASE)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3")
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DPATH=\"\\\"${PROJECT_SOURCE_DIR}\\\"\"")
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -D${CMAKE_SYSTEM_NAME}")
MESSAGE("${CMAKE_CXX_FLAGS}")
# Todo
## 使用编译期固定选项，以略微提升性能。
#SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DFIX_OPTIONS")
@@ -20,17 +22,28 @@ IF(CCACHE_FOUND)
MESSAGE("< Use ccache for compiler >")
ENDIF()
FILE(GLOB_RECURSE sourcefiles "others/src/*.cpp" "energy/src/*cpp" "armor/src/*.cpp")
ADD_EXECUTABLE(${BIN_NAME} main.cpp ${sourcefiles} )
IF (CMAKE_SYSTEM_NAME MATCHES "Linux")
MESSAGE(STATUS "current platform: Linux ")
FIND_PACKAGE(Eigen3 REQUIRED)
INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})
TARGET_LINK_LIBRARIES(${BIN_NAME} "${PROJECT_SOURCE_DIR}/others/libMVSDK.so")
ELSEIF (CMAKE_SYSTEM_NAME MATCHES "Windows")
MESSAGE(STATUS "current platform: Windows")
INCLUDE_DIRECTORIES("C:/Applications/eigen3")
TARGET_LINK_LIBRARIES(${BIN_NAME} "${PROJECT_SOURCE_DIR}/others/MVCAMSDK_X64.lib")
ELSE ()
MESSAGE(STATUS "Unsupport platform: ${CMAKE_SYSTEM_NAME}")
ENDIF()
FIND_PACKAGE(OpenCV 3 REQUIRED)
FIND_PACKAGE(Threads)
INCLUDE_DIRECTORIES("C:\\Applications\\eigen3")
INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/energy/include)
INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/armor/include)
INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/others/include)
FILE(GLOB_RECURSE sourcefiles "others/src/*.cpp" "energy/src/*cpp" "armor/src/*.cpp")
ADD_EXECUTABLE(${BIN_NAME} main.cpp ${sourcefiles} )
TARGET_LINK_LIBRARIES(${BIN_NAME} ${CMAKE_THREAD_LIBS_INIT})
TARGET_LINK_LIBRARIES(${BIN_NAME} ${OpenCV_LIBS})
TARGET_LINK_LIBRARIES(${BIN_NAME} "C:/Program\ Files\ (x86)/MindVision/SDK/X64/MVCAMSDK_X64.lib")

5
armor/src/armor_finder/armor_finder.cpp
View File

@@ -68,11 +68,6 @@ bool sendTarget(Serial& serial, double x, double y, double z) {
static int fps;
uint8_t buff[8];
static SYSTEMTIME ts, te;
GetLocalTime(&te);
printf("Interval: %d\n", (te.wSecond - ts.wSecond) * 1000 + (te.wMilliseconds - ts.wMilliseconds));
ts = te;
time_t t = time(nullptr);
if (last_time != t) {
last_time = t;

27
main.cpp
View File

@@ -37,7 +37,7 @@ void uartReceive(Serial *uart);
int main(int argc, char *argv[]) {
process_options(argc, argv);
Serial uart(3, 115200);
Serial uart(115200);
thread receive(uartReceive, &uart);
bool flag = true;
@@ -118,12 +118,11 @@ int main(int argc, char *argv[]) {
return 0;
}
#define RECEIVE_LOG_LEVEL LOG_MSG
#define RECEIVE_LOG_LEVEL LOG_NOTHING
char uartReadByte(Serial &uart) {
while (uart.GetBytesInCOM() == 0);
char byte;
if (uart.ReadData((uint8_t*)& byte, 1) == false) {
if (uart.ReadData((uint8_t*)&byte, 1) == false) {
LOGE("serial error!");
}
return byte;
@@ -138,45 +137,45 @@ void uartReceive(Serial* uart) {
while ((data = uartReadByte(*uart)) != '\n') {
buffer[cnt++] = data;
if (cnt >= 100) {
//LOG(RECEIVE_LOG_LEVEL, "data receive over flow!");
LOG(RECEIVE_LOG_LEVEL, "data receive over flow!");
cnt = 0;
}
}
//LOGM("%d", cnt);
LOGM("%d", cnt);
if (cnt == 12) {
if (buffer[8] == 'e') {
state = ENERGY_STATE;
//LOG(RECEIVE_LOG_LEVEL, "Energy state");
LOG(RECEIVE_LOG_LEVEL, "Energy state");
} else if (buffer[8] == 'a') {
state = ARMOR_STATE;
//LOG(RECEIVE_LOG_LEVEL, "Armor state");
LOG(RECEIVE_LOG_LEVEL, "Armor state");
}
if (buffer[10] == 0){
use_classifier = false;
//LOG(RECEIVE_LOG_LEVEL, "Classifier off!");
LOG(RECEIVE_LOG_LEVEL, "Classifier off!");
} else if(buffer[10] == 1){
use_classifier = true;
//LOG(RECEIVE_LOG_LEVEL, "Classifier on!");
LOG(RECEIVE_LOG_LEVEL, "Classifier on!");
}
if (buffer[11] == ENEMY_BLUE) {
//LOG(RECEIVE_LOG_LEVEL, "ENEMY_BLUE!");
LOG(RECEIVE_LOG_LEVEL, "ENEMY_BLUE!");
ally_color = ALLY_RED;
enemy_color = ENEMY_BLUE;
} else if (buffer[11] == ENEMY_RED) {
//LOG(RECEIVE_LOG_LEVEL, "ENEMY_RED!");
LOG(RECEIVE_LOG_LEVEL, "ENEMY_RED!");
ally_color = ALLY_BLUE;
enemy_color = ENEMY_RED;
}
memcpy(&curr_yaw, buffer, 4);
memcpy(&curr_pitch, buffer + 4, 4);
//LOG(RECEIVE_LOG_LEVEL, "Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
LOG(RECEIVE_LOG_LEVEL, "Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
if (buffer[9] == 1) {
if (mark == 0) {
mark = 1;
mark_yaw = curr_yaw;
mark_pitch = curr_pitch;
}
//LOG(RECEIVE_LOG_LEVEL, "Marked");
LOG(RECEIVE_LOG_LEVEL, "Marked");
}
}
cnt = 0;

1
others/include/camera/camera_define.h
View File

@@ -31,6 +31,7 @@ typedef unsigned char UCHAR;
#define HMODULE void*
#define TRUE 1
#define FALSE 0
//图像查表变换的方式

6
others/include/camera/camera_wrapper.h
View File

@@ -14,7 +14,11 @@
#include <opencv2/imgproc/imgproc.hpp>
#include "camera/wrapper_head.h"
#include "camera/CameraApi.h"
#ifdef Windows
#include "camera/CameraApi.h"
#elif defined(Linux)
#include "camera/camera_api.h"
#endif
class CameraWrapper: public WrapperHead {
private:

4
others/include/log.h
View File

@@ -124,8 +124,8 @@
__FILE__, __LINE__, ##__VA_ARGS__)
/******************** the time counter API ************************/
#ifndef DO_NOT_CNT_TIME && LOG_LEVEL > LOG_NONE
#ifdef WIN32
#if !defined(DO_NOT_CNT_TIME) && LOG_LEVEL > LOG_NONE
#ifdef Windows
#include <Windows.h>
#define CNT_TIME(tag, codes, ...) do{ \
static SYSTEMTIME ts, te; \

2
others/include/options/additions.h
View File

@@ -5,7 +5,7 @@
#ifndef _ADDITIONS_H_
#define _ADDITIONS_H_
#include <uart/uart.h>
#include <serial/serial.h>
#include <opencv2/core.hpp>
#include <thread>

33
others/include/serial/serial.h
View File

@@ -1,12 +1,14 @@
#ifndef _SERIAL_H_
#define _SERIAL_H_
#ifdef Windows
#include <Windows.h>
class Serial
{
public:
Serial(UINT portNo = 1, UINT baud = CBR_9600, char parity = 'N', UINT databits = 8, UINT stopsbits = 1, DWORD dwCommEvents = EV_RXCHAR);
Serial(UINT baud = CBR_115200, char parity = 'N', UINT databits = 8, UINT stopsbits = 1, DWORD dwCommEvents = EV_RXCHAR);
~Serial();
bool InitPort(UINT portNo = 1, UINT baud = CBR_9600, char parity = 'N', UINT databits = 8, UINT stopsbits = 1, DWORD dwCommEvents = EV_RXCHAR);
@@ -27,4 +29,33 @@ private:
DWORD dwCommEvents;
};
#elif defined(Linux)
#include <errno.h>
#include <fcntl.h>
#include <termios.h>
#include <unistd.h>
class Serial {
private:
int fd;
int nSpeed;
char nEvent;
int nBits;
int nStop;
int set_opt(int fd, int nSpeed, char nEvent, int nBits, int nStop);
public:
Serial(int nSpeed = 115200, char nEvent = 'N', int nBits = 8, int nStop = 1);
~Serial();
bool InitPort(int nSpeed = 115200, char nEvent = 'N', int nBits = 8, int nStop = 1);
// int GetBytesInCOM() const ;
bool WriteData(const unsigned char* pData, unsigned int length);
bool ReadData(unsigned char* buffer, unsigned int length);
};
#endif
#endif /* _SERIAL_H_ */

24
others/src/camera/camera_wrapper.cpp
View File

@@ -62,7 +62,7 @@ bool CameraWrapper::init() {
rgb_buffer = (unsigned char *)malloc(tCapability.sResolutionRange.iHeightMax *
tCapability.sResolutionRange.iWidthMax * 3);
char filepath[200];
sprintf_s(filepath, PROJECT_DIR"/others/%s.Config", name.data());
sprintf(filepath, PROJECT_DIR"/others/%s.Config", name.data());
if (CameraReadParameterFromFile(h_camera, filepath) != CAMERA_STATUS_SUCCESS) {
LOGE("Load parameter %s from file fail!", filepath);
return false;
@@ -75,28 +75,6 @@ bool CameraWrapper::init() {
double t;
CameraGetExposureTime(h_camera, &t);
LOGM("Exposure time: %lfms", t / 1000.0);
/* if(mode == 0){
// 不使用自动曝光
CameraSetAeState(h_camera, false);
// 曝光时间10ms
CameraSetExposureTime(h_camera, 10000);
double t;
CameraGetExposureTime(h_camera, &t);
LOGM("Exposure time: %lfms", t/1000.0);
// 模拟增益4
CameraSetAnalogGain(h_camera, 64);
// 使用预设LUT表
CameraSetLutMode(h_camera, LUTMODE_PRESET);
// 抗频闪
// CameraSetAntiFlick(h_camera, true);
}
else if(mode == 1){
// 不使用自动曝光
CameraSetAeState(h_camera, false);
// 抗频闪
// CameraSetAntiFlick(h_camera, true);
}
*/
/*让SDK进入工作模式，开始接收来自相机发送的图像
数据。如果当前相机是触发模式，则需要接收到
触发帧以后才会更新图像。 */

201
others/src/serial/serial.cpp
View File

@@ -4,9 +4,11 @@
using namespace std;
#include <iostream>
Serial::Serial(UINT portNo, UINT baud, char parity, UINT databits, UINT stopsbits, DWORD dwCommEvents) :
#ifdef Windows
Serial::Serial(UINT baud, char parity, UINT databits, UINT stopsbits, DWORD dwCommEvents) :
hComm(INVALID_HANDLE_VALUE),
portNo(portNo),
portNo(3),
parity(parity),
databits(databits),
stopsbits(stopsbits),
@@ -40,12 +42,12 @@ bool Serial::openPort(UINT portNo) {
char szPort[50];
sprintf_s(szPort, "COM%d", portNo);
/** <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD> */
hComm = CreateFileA(szPort, /** <EFBFBD>豸<EFBFBD><EFBFBD>,COM1,COM2<EFBFBD><EFBFBD> */
GENERIC_READ | GENERIC_WRITE, /** <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ,<2C><>ͬʱ<CDAC><CAB1>д */
0, /** <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ,0<><30>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
NULL, /** <EFBFBD><EFBFBD>ȫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,һ<><D2BB>ʹ<EFBFBD><CAB9>NULL */
OPEN_EXISTING, /** <EFBFBD>ò<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD>豸<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD>򴴽<EFBFBD>ʧ<EFBFBD><CAA7> */
/** 打开指定的串口 */
hComm = CreateFileA(szPort, /** 设备名,COM1,COM2等 */
GENERIC_READ | GENERIC_WRITE, /** 访问模式,可同时读写 */
0, /** 共享模式,0表示不共享 */
NULL, /** 安全性设置,一般使用NULL */
OPEN_EXISTING, /** 该参数表示设备必须存在,否则创建失败 */
0,
0);
@@ -53,7 +55,7 @@ bool Serial::openPort(UINT portNo) {
}
void Serial::ClosePort() {
/** <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD><EFBFBD>ڱ<EFBFBD><EFBFBD>򿪣<EFBFBD><EFBFBD>ر<EFBFBD><EFBFBD><EFBFBD> */
/** 如果有串口被打开，关闭它 */
if (hComm != INVALID_HANDLE_VALUE) {
CloseHandle(hComm);
hComm = INVALID_HANDLE_VALUE;
@@ -61,7 +63,7 @@ void Serial::ClosePort() {
}
bool Serial::InitPort(UINT portNo, UINT baud, char parity, UINT databits, UINT stopsbits, DWORD dwCommEvents) {
/** <EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD>ƶ<EFBFBD><C6B6><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD>ַ<EFBFBD><D6B7><EFBFBD><EFBFBD><EFBFBD>ʽ,<2C>Թ<EFBFBD><D4B9><EFBFBD>DCB<EFBFBD>ṹ */
/** 临时变量,将制定参数转化为字符串形式,以构造DCB结构 */
char szDCBparam[50];
sprintf_s(szDCBparam, "baud=%d parity=%c data=%d stop=%d", baud, parity, databits, stopsbits);
@@ -85,40 +87,40 @@ bool Serial::InitPort(UINT portNo, UINT baud, char parity, UINT databits, UINT
DCB dcb;
if (bIsSuccess) {
/** <EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ò<EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD>ҹ<EFBFBD><D2B9>촮<EFBFBD><ECB4AE>DCB<43><42><EFBFBD><EFBFBD> */
/** 获取当前串口配置参数,并且构造串口DCB参数 */
bIsSuccess = GetCommState(hComm, &dcb);
bIsSuccess = BuildCommDCB(szDCBparam, &dcb);
if (!bIsSuccess) {
cout << "Create dcb fail with "<< GetLastError() << endl;
}
/** <EFBFBD><EFBFBD><EFBFBD><EFBFBD>RTS flow<EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
/** 开启RTS flow控制 */
dcb.fRtsControl = RTS_CONTROL_ENABLE;
}
if (bIsSuccess) {
/** ʹ<EFBFBD><EFBFBD>DCB<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ô<EFBFBD><EFBFBD><EFBFBD>״̬ */
/** 使用DCB参数配置串口状态 */
bIsSuccess = SetCommState(hComm, &dcb);
if (!bIsSuccess) {
cout << "SetCommState error!" << endl;
}
}
/** <EFBFBD><EFBFBD><EFBFBD>մ<EFBFBD><EFBFBD>ڻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
/** 清空串口缓冲区 */
PurgeComm(hComm, PURGE_RXCLEAR | PURGE_TXCLEAR | PURGE_RXABORT | PURGE_TXABORT);
return bIsSuccess;
}
UINT Serial::GetBytesInCOM() const {
DWORD dwError = 0; /** <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
COMSTAT comstat; /** COMSTAT<EFBFBD>ṹ<EFBFBD><EFBFBD>,<2C><>¼ͨ<C2BC><CDA8><EFBFBD>豸<EFBFBD><E8B1B8>״̬<D7B4><CCAC>Ϣ */
DWORD dwError = 0; /** 错误码 */
COMSTAT comstat; /** COMSTAT结构体,记录通信设备的状态信息 */
memset(&comstat, 0, sizeof(COMSTAT));
UINT BytesInQue = 0;
/** <EFBFBD>ڵ<EFBFBD><EFBFBD><EFBFBD>ReadFile<EFBFBD><EFBFBD>WriteFile֮ǰ,ͨ<><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>־ */
/** 在调用ReadFile和WriteFile之前,通过本函数清除以前遗留的错误标志 */
if (ClearCommError(hComm, &dwError, &comstat)) {
BytesInQue = comstat.cbInQue; /** <EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>뻺<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD><EFBFBD>ֽ<EFBFBD><EFBFBD><EFBFBD> */
BytesInQue = comstat.cbInQue; /** 获取在输入缓冲区中的字节数 */
}
return BytesInQue;
@@ -130,13 +132,13 @@ bool Serial::WriteData(const unsigned char* pData, unsigned int length) {
return false;
}
/** <EFBFBD>򻺳<EFBFBD><EFBFBD><EFBFBD>д<EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
/** 向缓冲区写入指定量的数据 */
BOOL bResult = TRUE;
DWORD BytesToSend = 0;
bResult = WriteFile(hComm, pData, length, &BytesToSend, NULL);
if (!bResult) {
DWORD dwError = GetLastError();
/** <EFBFBD><EFBFBD><EFBFBD>մ<EFBFBD><EFBFBD>ڻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
/** 清空串口缓冲区 */
PurgeComm(hComm, PURGE_RXCLEAR | PURGE_RXABORT);
ErrorHandler();
return false;
@@ -150,17 +152,17 @@ bool Serial::ReadData(unsigned char *buffer, unsigned int length) {
return false;
}
/** <EFBFBD>ӻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡlength<EFBFBD>ֽڵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
/** 从缓冲区读取length字节的数据 */
BOOL bResult = TRUE;
DWORD totalRead = 0, onceRead = 0;
while (totalRead < length) {
bResult = ReadFile(hComm, buffer, length-totalRead, &onceRead, NULL);
totalRead += onceRead;
if ((!bResult)) {
/** <EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD>Ը<EFBFBD><D4B8>ݸô<DDB8><C3B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭ<EFBFBD><D4AD> */
/** 获取错误码,可以根据该错误码查出错误原因 */
DWORD dwError = GetLastError();
/** <EFBFBD><EFBFBD><EFBFBD>մ<EFBFBD><EFBFBD>ڻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
/** 清空串口缓冲区 */
PurgeComm(hComm, PURGE_RXCLEAR | PURGE_RXABORT);
ErrorHandler();
return false;
@@ -168,3 +170,156 @@ bool Serial::ReadData(unsigned char *buffer, unsigned int length) {
}
return bResult;
}
#else defined(Linux)
#include <string.h>
using namespace std;
string get_uart_dev_name(){
FILE* ls = popen("ls /dev/ttyUSB* --color=never", "r");
char name[20] = {0};
fscanf(ls, "%s", name);
return name;
}
Serial::Serial(int nSpeed, char nEvent, int nBits, int nStop) :
nSpeed(nSpeed), nEvent(nEvent), nBits(nBits), nStop(nStop){
if(wait_uart){
LOGM("Wait for serial be ready!");
while(InitPort(nSpeed, nEvent, nBits, nStop) == false);
LOGM("Port set successfully!");
}else{
if(InitPort(nSpeed, nEvent, nBits, nStop)){
LOGM("Port set successfully!");
}else{
LOGE("Port set fail!");
}
}
}
Serial::~Serial() {
close(fd);
fd = -1;
}
bool Serial::InitPort(int nSpeed, char nEvent, int nBits, int nStop){
string name = get_uart_dev_name();
if(name == ""){
return false;
}
if((fd=open(name.data(), O_RDWR)) < 0){
return false;
}
if(set_opt(fd, nSpeed, nEvent, nBits, nStop) < 0){
return false;
}
return true;
}
//int GetBytesInCOM() const {
//
//}
bool Serial::WriteData(const unsigned char* pData, unsigned int length){
int cnt=0, curr=0;
while((curr=write(fd, pData+cnt, length-cnt))>0 && (cnt+=curr)<length);
if(cnt < 0){
LOGE("Serial offline!");
close(fd);
if(wait_uart){
InitPort(nSpeed, nEvent, nBits, nStop);
}
}
}
bool Serial::ReadData(unsigned char* buffer, unsigned int length){
int cnt=0, curr=0;
while((curr=read(fd, buffer+cnt, length-cnt))>0 && (cnt+=curr)<length);
if(cnt < 0){
LOGE("Serial offline!");
close(fd);
if(wait_uart){
InitPort(nSpeed, nEvent, nBits, nStop);
}
}
}
int Serial::set_opt(int fd, int nSpeed, char nEvent, int nBits, int nStop) {
termios newtio{}, oldtio{};
if (tcgetattr(fd, &oldtio) != 0) {
perror("SetupSerial 1");
return -1;
}
bzero(&newtio, sizeof(newtio));
newtio.c_cflag |= CLOCAL | CREAD;
newtio.c_cflag &= ~CSIZE;
switch (nBits) {
case 7:
newtio.c_cflag |= CS7;break;
case 8:
newtio.c_cflag |= CS8;break;
default:break;
}
switch (nEvent) {
case 'O': //奇校验
newtio.c_cflag |= PARENB;
newtio.c_cflag |= PARODD;
newtio.c_iflag |= (INPCK | ISTRIP);
break;
case 'E': //偶校验
newtio.c_iflag |= (INPCK | ISTRIP);
newtio.c_cflag |= PARENB;
newtio.c_cflag &= ~PARODD;
break;
case 'N': //无校验
newtio.c_cflag &= ~PARENB;
break;
default:break;
}
switch (nSpeed) {
case 2400:
cfsetispeed(&newtio, B2400);
cfsetospeed(&newtio, B2400);
break;
case 4800:
cfsetispeed(&newtio, B4800);
cfsetospeed(&newtio, B4800);
break;
case 9600:
cfsetispeed(&newtio, B9600);
cfsetospeed(&newtio, B9600);
break;
case 115200:
cfsetispeed(&newtio, B115200);
cfsetospeed(&newtio, B115200);
break;
default:
cfsetispeed(&newtio, B9600);
cfsetospeed(&newtio, B9600);
break;
}
if (nStop == 1) {
newtio.c_cflag &= ~CSTOPB;
} else if (nStop == 2) {
newtio.c_cflag |= CSTOPB;
}
newtio.c_cc[VTIME] = 0;
newtio.c_cc[VMIN] = 0;
tcflush(fd, TCIFLUSH);
if ((tcsetattr(fd, TCSANOW, &newtio)) != 0) {
perror("com set error");
return -1;
}
printf("set done!\n");
return 0;
}
#endif /* switch os */

2
tools/TrainCNN/backward.py
View File

@@ -103,7 +103,7 @@ def train(dataset, show_bar=False):
if i % 100 == 0:
if i % 1000 == 0:
test_samples, test_labels = dataset.sample_test_sets(5000)
test_samples, test_labels = dataset.sample_test_sets(1000)
acc = sess.run(accuracy, feed_dict={x: test_samples, y_: test_labels})
bar.set_postfix({"loss": loss_value, "acc": acc})

4
tools/TrainCNN/forward.py
View File

@@ -72,13 +72,13 @@ def forward(x, regularizer=None):
node = pool_shape[1] * pool_shape[2] * pool_shape[3]
reshaped = tf.reshape(pool2, [-1, node])
fc1_w = get_weight([node, FC1_OUTPUT_NODES], regularizer)
fc1_w = tf.nn.dropout(get_weight([node, FC1_OUTPUT_NODES], regularizer), 0.1)
fc1_b = get_bias([FC1_OUTPUT_NODES])
fc1 = tf.nn.relu(tf.matmul(reshaped, fc1_w) + fc1_b)
vars.extend([fc1_w, fc1_b])
nodes.extend([fc1])
fc2_w = get_weight([FC1_OUTPUT_NODES, FC2_OUTPUT_NODES], regularizer)
fc2_w = tf.nn.dropout(get_weight([FC1_OUTPUT_NODES, FC2_OUTPUT_NODES], regularizer), 0.1)
fc2_b = get_bias([FC2_OUTPUT_NODES])
fc2 = tf.nn.softmax(tf.matmul(fc1, fc2_w) + fc2_b)
vars.extend([fc2_w, fc2_b])