From 156e4e08611373bcbb7df438f0b115ffc7b7314c Mon Sep 17 00:00:00 2001
From: xinyang <lloi_yang@sjtu.edu.cn>
Date: Fri, 10 May 2019 19:38:26 +0800
Subject: [PATCH 1/2] fix bug

---
 main.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/main.cpp b/main.cpp
index 5b5ae10..cd3c3b6 100644
--- a/main.cpp
+++ b/main.cpp
@@ -65,6 +65,7 @@ int main(int argc, char *argv[]) {
             delete video_armor;
             delete video_energy;
             cout << "Program fails. Restarting" << endl;
+            continue;
         }
 
         Mat energy_src, armor_src;

From bc1707961cb8aed23f5b43edd345dd574e696ad8 Mon Sep 17 00:00:00 2001
From: xinyang <lloi_yang@sjtu.edu.cn>
Date: Fri, 10 May 2019 19:39:24 +0800
Subject: [PATCH 2/2] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=E4=B8=B2=E5=8F=A3?=
 =?UTF-8?q?=E6=9C=89=E6=97=B6=E6=89=93=E4=B8=8D=E5=BC=80=E7=9A=84=EF=BD=82?=
 =?UTF-8?q?=EF=BD=95=EF=BD=87=E3=80=82?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 others/src/uart/uart.cpp | 36 +++++++++++++++++++++++++++---------
 1 file changed, 27 insertions(+), 9 deletions(-)

diff --git a/others/src/uart/uart.cpp b/others/src/uart/uart.cpp
index 06de6ef..e9ea4f7 100644
--- a/others/src/uart/uart.cpp
+++ b/others/src/uart/uart.cpp
@@ -7,33 +7,51 @@
 #include <options/options.h>
 #include <log.h>
 
-using std::cout;
-using std::cerr;
-using std::clog;
-using std::dec;
-using std::endl;
-using std::hex;
+using namespace std;
 
 GMAngle_t aim;
 
+string get_uart_dev_name(){
+    FILE* ls = popen("ls /dev/ttyUSB* --color=never", "r");
+    char name[20] = {0};
+    fscanf(ls, "%s", name);
+    return name;
+}
 
 Uart::Uart(){
     if(wait_uart){
-        while((fd = open("/dev/ttyUSB0", O_RDWR)) < 0);
+        string name;
+        do{
+            name = get_uart_dev_name();
+            if(name == ""){
+                continue;
+            }
+        }while((fd=open(name.data(), O_RDWR)) < 0);
     }else{
-        fd = open("/dev/ttyUSB0", O_RDWR);
+        string name = get_uart_dev_name();
+        if(name == ""){
+            cerr<<"open port error"<<endl;
+            return;
+        }
+        fd = open(name.data(), O_RDWR);
         if(fd < 0) {
             cerr<<"open port error"<<endl;
             return;
         }
     }
 
+//    fd = open("/dev/ttyUSB1", O_RDWR);
+//    if(fd < 0) {
+//        cerr<<"open port error"<<endl;
+//        return;
+//    }
+
     if(set_opt(fd, 115200, 8, 'N', 1) < 0 )
     {
         cerr<<"set opt error"<<endl;
         return;
     }
-    cout<<"uart port success"<<endl;
+    cout << "uart port success" << endl;
 
     buff[0] = 's';
     buff[1] = '+';