Merge remote-tracking branch 'origin/anti-top'

# Conflicts:
#	armor/src/armor_finder/send_target/send_target.cpp
#	energy/src/energy/clear/energy_init.cpp
#	energy/src/energy/find/energy_finder.cpp
#	energy/src/energy/judge/judge_contour.cpp
#	energy/src/energy/run.cpp
#	main.cpp
#	others/src/camera/camera_wrapper.cpp

others/include/camera/camera_wrapper.h

@@ -48,6 +48,7 @@ public:
     bool readRaw(cv::Mat& src);
     bool readProcessed(cv::Mat& src);
     bool changeBrightness(int brightness);
+//    bool once
 };
 
 

others/include/config/setconfig.h

@@ -30,6 +30,18 @@
 #ifndef ENERGY_CAMERA_GAIN
     #define ENERGY_CAMERA_GAIN  (20)
 #endif
+#ifndef AIM_KP
+    #define AIM_KP (6)
+#endif
+#ifndef AIM_KI
+    #define AIM_KI (0.1)
+#endif
+#ifndef COMPENSATE_YAW
+    #define COMPENSATE_YAW (5)
+#endif
+#ifndef COMPENSATE_PITCH
+    #define COMPENSATE_PITCH (74)
+#endif
 
 //#define GIMBAL_FLIP_MODE    (-1)
 //#define CHASSIS_FLIP_MODE   (-1)

others/src/additions/additions.cpp

@@ -30,27 +30,27 @@ extern ArmorFinder armorFinder;
 extern Energy energy;
 
 void uartReceive(Serial *pSerial) {
-    char buffer[20];
-    int cnt = 0;
+    char buffer[30];
     LOGM(STR_CTR(WORD_LIGHT_WHITE, "data receive start!"));
     while (true) {
-        char byte = 0;
         memset(buffer, 0, sizeof(buffer));
-        while (pSerial->ReadData((uint8_t *) &byte, 1) && byte != '\n') {
-            buffer[cnt++] = byte;
-            if (cnt >= sizeof(buffer)) {
-//                LOGE("data receive over flow!");
-                cnt = 0;
-            }
-        }
-        if (cnt == 0 && byte == '\n') {
-//            LOGM("%d", cnt);
-        }
-        if (cnt == sizeof(mcuData)) {
+        pSerial->ReadData((uint8_t *) buffer, sizeof(mcuData)+1);
+        if (buffer[sizeof(mcuData)] == '\n') {
             memcpy(&mcuData, buffer, sizeof(mcuData));
 //            LOGM("Get, state:%c, mark:%d!", mcuData.state, (int) mcuData.mark);
+//            LOGM("Get yaw: %f, pitch: %f!", mcuData.curr_yaw, mcuData.curr_pitch);
+//            static int t = time(nullptr);
+//            static int cnt = 0;
+//            if(time(nullptr) > t){
+//                t = time(nullptr);
+//                LOGM("fps:%d", cnt);
+//                cnt = 0;
+//            }else{
+//                cnt++;
+//            }
+        }else{
+//            LOGW("corrupt data!");
         }
-        cnt = 0;
     }
 }
 
@@ -76,12 +76,12 @@ cv::VideoWriter initVideoWriter(const std::string &filename_prefix) {
 bool checkReconnect(bool is_camera_0_connect, bool is_camera_1_connect) {
     if (!is_camera_0_connect) {
         delete video_gimbal;
-        video_gimbal = new CameraWrapper(0, "armor");
+        video_gimbal = new CameraWrapper(0/*, "armor"*/);
         is_camera_0_connect = video_gimbal->init();
     }
     if (!is_camera_1_connect) {
         delete video_chassis;
-        video_chassis = new CameraWrapper(1, "energy");
+        video_chassis = new CameraWrapper(1/*, "energy"*/);
         is_camera_1_connect = video_chassis->init();
     }
     return is_camera_0_connect && is_camera_1_connect;
@@ -90,7 +90,7 @@ bool checkReconnect(bool is_camera_0_connect, bool is_camera_1_connect) {
 bool checkReconnect(bool is_camera_connect) {
     if (!is_camera_connect) {
         delete video_gimbal;
-        video_gimbal = new CameraWrapper(0, "armor");
+        video_gimbal = new CameraWrapper(0/*, "armor"*/);
         is_camera_connect = video_gimbal->init();
     }
     return is_camera_connect;

others/src/serial/serial.cpp

@@ -191,7 +191,7 @@ 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);
+        while (!InitPort(nSpeed, nEvent, nBits, nStop));
         LOGM("Port set successfully!");
     } else {
         if (InitPort(nSpeed, nEvent, nBits, nStop)) {
@@ -234,7 +234,7 @@ bool Serial::WriteData(const unsigned char *pData, unsigned int length) {
         return false;
     }
     while ((curr = write(fd, pData + cnt, length - cnt)) > 0 && (cnt += curr) < length);
-    if (cnt < 0) {
+    if (curr < 0) {
         LOGE("Serial offline!");
         close(fd);
         if (wait_uart) {
@@ -248,7 +248,7 @@ bool Serial::WriteData(const unsigned char *pData, unsigned int length) {
 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) {
+    if (curr < 0) {
         LOGE("Serial offline!");
         close(fd);
         if (wait_uart) {