重新整理文件夹结构，并添加CNN训练代码。

others/src/uart/uart.cpp

@@ -0,0 +1,161 @@
+//
+// Created by xixiliadorabarry on 1/24/19.
+//
+
+#include <uart/uart.h>
+#include <energy/param_struct_define.h>
+
+using std::cout;
+using std::cerr;
+using std::clog;
+using std::dec;
+using std::endl;
+using std::hex;
+
+GMAngle_t aim;
+
+
+Uart::Uart(){
+
+    fd = open("/dev/ttyUSB0", 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;
+
+    buff[0] = 's';
+    buff[1] = '+';
+    buff[2] = (0 >> 8) & 0xFF;
+    buff[3] = 0 & 0xFF;
+    buff[4] = '+';
+    buff[5] = (0 >> 8) & 0xFF;
+    buff[6] = (0 & 0xFF);
+    buff[7] = 'e';
+
+    fps = 0;
+    cur_time = time(nullptr);
+
+}
+
+int Uart::set_opt(int fd, int nSpeed, int nBits, char nEvent, 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;
+}
+
+void Uart::sendTarget(float x, float y, float z) {
+    static short x_tmp, y_tmp, z_tmp;
+
+    time_t t = time(nullptr);
+    if(cur_time != t)
+    {
+        cur_time = t;
+        cout<<"fps:"<<fps<<", ("<<x<<","<<y<<","<<z<<")"<<endl;
+        fps = 0;
+    }
+    fps += 1;
+
+    x_tmp= static_cast<short>(x * (32768 - 1) / 100);
+    y_tmp= static_cast<short>(y * (32768 - 1) / 100);
+    z_tmp= static_cast<short>(z * (32768 - 1) / 1000);
+
+    buff[0] = 's';
+    buff[1] = static_cast<char>((x_tmp >> 8) & 0xFF);
+    buff[2] = static_cast<char>((x_tmp >> 0) & 0xFF);
+    buff[3] = static_cast<char>((y_tmp >> 8) & 0xFF);
+    buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF);
+    buff[5] = static_cast<char>((z_tmp >> 8) & 0xFF);
+    buff[6] = static_cast<char>((z_tmp >> 0) & 0xFF);
+    buff[7] = 'e';
+
+    write(fd, buff, 8);
+
+}
+
+// 's' + (x) ( 8bit + 8bit ) + (y) ( 8bit + 8bit ) + (z) ( 8bit + 8bit ) + 'e'
+
+
+uint8_t Uart::receive() {
+    uint8_t data;
+    while(read(fd, &data, 1) < 1);
+    return data;
+}
+