哨兵索敌自瞄
This commit is contained in:
@@ -92,11 +92,15 @@ void ArmorFinder::run(cv::Mat &src) {
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end:
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if(is_anti_top) { // 判断当前是否为反陀螺模式
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antiTop();
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}else if(target_box.rect != cv::Rect2d()) {
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} else if(target_box.rect != cv::Rect2d()) {
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// 有目标时正常发送
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anti_top_cnt = 0;
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time_seq.clear();
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angle_seq.clear();
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sendBoxPosition(0);
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} else {
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// 无目标时也调用 sendBoxPosition，进入无目标状态处理
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sendBoxPosition(0);
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}
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if(target_box.rect != cv::Rect2d()){
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@@ -5,135 +5,240 @@
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#include <armor_finder/armor_finder.h>
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#include <config/setconfig.h>
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#include <log.h>
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#include <chrono>
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#include <thread>
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#include <mutex>
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#include <atomic>
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// amadeus_26 协议: 15字节帧
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// | SOF(0xBB 0x77) | x_move(2B) | y_move(2B) | yaw(2B) | pitch(2B) | feed(2B) | key(1B) | crc8(1B) | EOF(0xEE) |
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// | 0xBB | 0x77 | x_move(2B) | y_move(2B) | yaw(2B) | pitch(2B) | feed(2B) | switch(1B) | CRC8 | 0xEE |
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constexpr uint8_t FRAME_HEADER_1 = 0xBB;
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constexpr uint8_t FRAME_HEADER_2 = 0x77;
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constexpr uint8_t FRAME_TAIL = 0xEE;
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constexpr int FRAME_LENGTH = 15;
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constexpr int SEND_INTERVAL_MS = 20; // 50Hz
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static uint8_t calculateCRC8(const uint8_t *data, size_t len) {
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uint8_t crc = 0xFF;
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for (size_t i = 0; i < len; i++) {
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crc ^= data[i];
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for (int j = 0; j < 8; j++) {
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if (crc & 0x80) {
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crc = (crc << 1) ^ 0x31;
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} else {
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crc <<= 1;
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}
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// 状态定义
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enum TargetState {
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HAVE_TARGET, // 有目标
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LOST_TARGET_WAIT, // 丢失目标，等待1秒
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SEARCHING // 索敌状态（持续旋转直到找到目标）
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};
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// 共享控制数据
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struct ControlData {
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int16_t yaw = 0;
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int16_t pitch = 0;
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int16_t feed = 0;
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uint8_t left_switch = 3;
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uint8_t right_switch = 3;
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};
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static std::mutex control_mutex;
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static ControlData shared_control;
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static std::atomic<bool> sender_running{false};
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static std::thread sender_thread;
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// 发送线程函数
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void senderLoop(Serial &serial) {
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uint8_t frame[FRAME_LENGTH];
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while (sender_running) {
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auto start = std::chrono::steady_clock::now();
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// 获取控制数据（加锁）
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ControlData local_control;
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{
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std::lock_guard<std::mutex> lock(control_mutex);
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local_control = shared_control;
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}
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// 构建数据帧
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int idx = 0;
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frame[idx++] = FRAME_HEADER_1;
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frame[idx++] = FRAME_HEADER_2;
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// x_move, y_move (固定为0)
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frame[idx++] = 0;
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frame[idx++] = 0;
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frame[idx++] = 0;
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frame[idx++] = 0;
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// yaw (小端序)
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frame[idx++] = local_control.yaw & 0xFF;
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frame[idx++] = (local_control.yaw >> 8) & 0xFF;
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// pitch (小端序)
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frame[idx++] = local_control.pitch & 0xFF;
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frame[idx++] = (local_control.pitch >> 8) & 0xFF;
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// feed (小端序)
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frame[idx++] = local_control.feed & 0xFF;
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frame[idx++] = (local_control.feed >> 8) & 0xFF;
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// switch
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frame[idx++] = (local_control.left_switch << 4) | local_control.right_switch;
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// CRC8
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frame[idx++] = 0xCC;
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// 帧尾
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frame[idx++] = FRAME_TAIL;
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// 发送数据
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serial.WriteData(frame, FRAME_LENGTH);
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// 精确控制发送频率
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auto elapsed = std::chrono::duration_cast<std::chrono::milliseconds>(
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std::chrono::steady_clock::now() - start).count();
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int sleep_ms = SEND_INTERVAL_MS - elapsed;
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if (sleep_ms > 0) {
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std::this_thread::sleep_for(std::chrono::milliseconds(sleep_ms));
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}
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}
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return crc;
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}
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static bool sendTarget(Serial &serial, double yaw, double pitch, double dist, uint16_t shoot_delay) {
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int16_t x_move = 0; // 平动左右 [-660, 660]
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int16_t y_move = 0; // 平动前后 [-660, 660]
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int16_t yaw_val = 0; // 云台偏航 [-660, 660]
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int16_t pitch_val = 0; // 云台俯仰 [-660, 660]
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int16_t feed = 0; // 拨弹轮 [-660, 660]
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uint8_t key = 0; // 按键 [0, 15]
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#ifdef WITH_COUNT_FPS
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static time_t last_time = time(nullptr);
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static int fps;
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time_t t = time(nullptr);
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if (last_time != t) {
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last_time = t;
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cout << "Armor: fps:" << fps << ", yaw:" << yaw << ", pitch:" << pitch << ", dist:" << dist << endl;
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fps = 0;
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// 启动发送线程
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void startSender(Serial &serial) {
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if (!sender_running) {
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sender_running = true;
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sender_thread = std::thread(senderLoop, std::ref(serial));
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LOGM(STR_CTR(WORD_GREEN, "Sender thread started (50Hz)"));
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}
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fps += 1;
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#endif
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}
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#define MINMAX(value, min, max) value = ((value) < (min)) ? (min) : ((value) > (max) ? (max) : (value))
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// 将角度转换为协议范围 [-660, 660]
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yaw_val = static_cast<int16_t>(yaw * 10); // 角度放大10倍
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pitch_val = static_cast<int16_t>(pitch * 10);
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MINMAX(yaw_val, -660, 660);
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MINMAX(pitch_val, -660, 660);
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// 如果需要发弹，设置 feed 值
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if (shoot_delay > 0) {
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feed = 660; // 开火
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}
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// 打印发送的杆量值
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LOGM(STR_CTR(WORD_BLUE, "Armor Send: x_move=%d, y_move=%d, yaw=%d, pitch=%d, feed=%d, key=%d"),
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x_move, y_move, yaw_val, pitch_val, feed, key);
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uint8_t frame[FRAME_LENGTH];
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int idx = 0;
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// 帧头
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frame[idx++] = FRAME_HEADER_1;
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frame[idx++] = FRAME_HEADER_2;
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// 平动左右 (2 bytes, int16, 小端序)
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frame[idx++] = x_move & 0xFF;
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frame[idx++] = (x_move >> 8) & 0xFF;
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// 平动前后 (2 bytes, 小端序)
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frame[idx++] = y_move & 0xFF;
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frame[idx++] = (y_move >> 8) & 0xFF;
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// 云台偏航 (2 bytes, 小端序)
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frame[idx++] = yaw_val & 0xFF;
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frame[idx++] = (yaw_val >> 8) & 0xFF;
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// 云台俯仰 (2 bytes, 小端序)
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frame[idx++] = pitch_val & 0xFF;
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frame[idx++] = (pitch_val >> 8) & 0xFF;
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// 拨弹轮 (2 bytes, 小端序)
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frame[idx++] = feed & 0xFF;
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frame[idx++] = (feed >> 8) & 0xFF;
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// 按键 (1 byte)
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frame[idx++] = key;
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// CRC8 (数据区: frame[2]到frame[12], 共11字节)
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// 当前固定为0xCC，如需启用CRC校验，取消下面注释
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// frame[idx++] = calculateCRC8(frame + 2, 11);
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frame[idx++] = 0xCC;
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// 帧尾
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frame[idx++] = FRAME_TAIL;
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return serial.WriteData(frame, sizeof(frame));
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// 更新控制数据
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void updateControl(int16_t yaw, int16_t pitch, int16_t feed,
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uint8_t left_sw = 3, uint8_t right_sw = 3) {
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std::lock_guard<std::mutex> lock(control_mutex);
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shared_control.yaw = yaw;
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shared_control.pitch = pitch;
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shared_control.feed = feed;
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shared_control.left_switch = left_sw;
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shared_control.right_switch = right_sw;
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}
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bool ArmorFinder::sendBoxPosition(uint16_t shoot_delay) {
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if (target_box.rect == cv::Rect2d()) return false;
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if (shoot_delay) {
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LOGM(STR_CTR(WORD_BLUE, "next box %dms"), shoot_delay);
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// 确保发送线程已启动
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static bool sender_started = false;
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if (!sender_started) {
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startSender(serial);
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sender_started = true;
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}
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auto rect = target_box.rect;
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double dx = rect.x + rect.width / 2 - IMAGE_CENTER_X;
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double dy = rect.y + rect.height / 2 - IMAGE_CENTER_Y;
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// 状态管理
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static TargetState state = HAVE_TARGET;
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static auto state_start_time = std::chrono::steady_clock::now();
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static int16_t pitch_scan = -100;
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static int pitch_direction = 1;
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// 检查当前是否有目标
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bool has_target = (target_box.rect != cv::Rect2d());
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auto now = std::chrono::steady_clock::now();
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// 状态机处理
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switch (state) {
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case HAVE_TARGET:
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if (!has_target) {
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// 目标丢失，进入等待状态
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state = LOST_TARGET_WAIT;
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state_start_time = now;
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LOGM(STR_CTR(WORD_YELLOW, "Target lost, waiting 1s before searching..."));
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}
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break;
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case LOST_TARGET_WAIT:
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if (has_target) {
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// 目标恢复
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state = HAVE_TARGET;
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LOGM(STR_CTR(WORD_GREEN, "Target reacquired"));
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} else {
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// 检查是否等待满1秒
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auto elapsed = std::chrono::duration_cast<std::chrono::milliseconds>(now - state_start_time).count();
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if (elapsed >= 1000) { // 1秒到，进入索敌状态
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state = SEARCHING;
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LOGM(STR_CTR(WORD_LIGHT_CYAN, "Entering search mode (continuous)"));
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}
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}
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break;
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case SEARCHING:
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if (has_target) {
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// 目标恢复，退出索敌
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state = HAVE_TARGET;
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LOGM(STR_CTR(WORD_GREEN, "Target found, exit search mode"));
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}
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// 否则持续索敌，不退出
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break;
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}
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// 根据状态更新控制值
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if (state == HAVE_TARGET) {
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// 有目标时的正常处理
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if (shoot_delay) {
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LOGM(STR_CTR(WORD_BLUE, "next box %dms"), shoot_delay);
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}
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auto rect = target_box.rect;
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double dx = rect.x + rect.width / 2 - IMAGE_CENTER_X;
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double dy = rect.y + rect.height / 2 - IMAGE_CENTER_Y;
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// PID
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sum_yaw += dx;
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sum_pitch += dy;
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float yaw_I_component = YAW_AIM_KI * sum_yaw;
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float pitch_I_component = PITCH_AIM_KI * sum_pitch;
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// PID
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sum_yaw += dx;
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sum_pitch += dy;
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double tmp_yaw = dx;
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double tmp_pitch = dy;
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dx = YAW_AIM_KP * dx + YAW_AIM_KI * sum_yaw +
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YAW_AIM_KD * (dx - last_yaw);
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dy = PITCH_AIM_KP * dy + PITCH_AIM_KI * sum_pitch +
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PITCH_AIM_KD * (dy - last_pitch);
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double tmp_yaw = dx;
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double tmp_pitch = dy;
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dx = YAW_AIM_KP * dx + YAW_AIM_KI * sum_yaw +
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YAW_AIM_KD * (dx - last_yaw);
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dy = PITCH_AIM_KP * dy + PITCH_AIM_KI * sum_pitch +
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PITCH_AIM_KD * (dy - last_pitch);
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last_yaw = tmp_yaw;
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last_pitch = tmp_pitch;
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last_yaw = tmp_yaw;
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last_pitch = tmp_pitch;
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//
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double yaw = atan(dx / FOCUS_PIXAL) * 180 / PI;
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double pitch = atan(dy / FOCUS_PIXAL) * 180 / PI;
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double dist = DISTANCE_HEIGHT / rect.height;
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return sendTarget(serial, yaw, -pitch, dist, shoot_delay);
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}
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double yaw = atan(dx / FOCUS_PIXAL) * 180 / PI;
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double pitch = atan(dy / FOCUS_PIXAL) * 180 / PI;
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// 转换为杆量值（注意：pitch 方向修正）
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int16_t yaw_val = static_cast<int16_t>(yaw * 100);
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int16_t pitch_val = static_cast<int16_t>(-pitch * 100); // 取反修正方向
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int16_t feed_val = shoot_delay > 0 ? 660 : 0;
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// 更新控制数据
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updateControl(yaw_val, pitch_val, feed_val, 3, 3);
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return true;
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} else if (state == LOST_TARGET_WAIT) {
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// 等待1秒期间：开启小陀螺旋转索敌
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static int wait_count = 0;
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wait_count++;
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if (wait_count % 50 == 0) {
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auto remaining = 1000 - std::chrono::duration_cast<std::chrono::milliseconds>(now - state_start_time).count();
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LOGM(STR_CTR(WORD_YELLOW, "Pre-search: yaw=150, %dms left"), remaining > 0 ? remaining : 0);
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wait_count = 0;
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}
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// 等待期间也旋转：yaw=150，pitch 小范围扫描
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pitch_scan += pitch_direction * 5;
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if (pitch_scan >= 50) pitch_direction = -1;
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if (pitch_scan <= -50) pitch_direction = 1;
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updateControl(150, pitch_scan, 0, 3, 2);
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return true;
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} else { // SEARCHING
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// 索敌状态：持续旋转直到找到目标
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pitch_scan += pitch_direction * 7;
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if (pitch_scan >= 200) pitch_direction = -1;
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if (pitch_scan <= -100) pitch_direction = 1;
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static int search_count = 0;
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search_count++;
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if (search_count % 50 == 0) {
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LOGM(STR_CTR(WORD_LIGHT_CYAN, "Searching: yaw=150, pitch=%d (waiting for target)"), pitch_scan);
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search_count = 0;
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}
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// 索敌状态：yaw=150旋转，pitch大范围扫描，小陀螺开启
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updateControl(150, pitch_scan, 0, 3, 2);
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return true;
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}
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}
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@@ -60,10 +60,13 @@ void Energy::sendEnergy() {
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// 此函数用于发送数据给主控板 (amadeus_26 协议)
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// ---------------------------------------------------------------------------------------------------------------------
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void Energy::sendTarget(Serial &serial, float yaw, float pitch, int16_t feed, uint8_t key) {
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int16_t x_move = 0; // 平动左右 [-660, 660]
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int16_t y_move = 0; // 平动前后 [-660, 660]
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int16_t yaw_val = 0; // 云台偏航 [-660, 660]
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int16_t pitch_val = 0; // 云台俯仰 [-660, 660]
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// 控制参数
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int16_t x_move = 0; // 平动左右 [-660, 660]
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int16_t y_move = 0; // 平动前后 [-660, 660]
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int16_t yaw_val = 0; // 云台偏航 [-660, 660]
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int16_t pitch_val = 0; // 云台俯仰 [-660, 660]
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uint8_t left_switch = 3; // 左拨杆 [1, 3] 2 摩擦轮打开 3 关闭
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uint8_t right_switch = 3; // 右拨杆 [1, 3] 2 小陀螺 3 关闭
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#ifdef WITH_COUNT_FPS
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static auto last_time = time(nullptr);
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@@ -78,16 +81,14 @@ void Energy::sendTarget(Serial &serial, float yaw, float pitch, int16_t feed, ui
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fps += 1;
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#endif
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// 将角度转换为协议范围 [-660, 660]
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yaw_val = static_cast<int16_t>(yaw * 10); // 角度放大10倍
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pitch_val = static_cast<int16_t>(pitch * 10);
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// 将角度 (-3, 3) 度 转换为协议范围 [-660, 660]
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// 映射公式: output = input * (660 / 3) = input * 220
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yaw_val = static_cast<int16_t>(yaw * 220);
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pitch_val = static_cast<int16_t>(pitch * 220);
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MINMAX(yaw_val, -660, 660);
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MINMAX(pitch_val, -660, 660);
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// 打印发送的杆量值
|
||||
LOGM(STR_CTR(WORD_LIGHT_PURPLE, "Energy Send: x_move=%d, y_move=%d, yaw=%d, pitch=%d, feed=%d, key=%d"),
|
||||
x_move, y_move, yaw_val, pitch_val, feed, key);
|
||||
|
||||
// 构建数据帧 - 与 test_pitch_up.cpp 格式一致
|
||||
uint8_t frame[FRAME_LENGTH];
|
||||
int idx = 0;
|
||||
|
||||
@@ -115,17 +116,26 @@ void Energy::sendTarget(Serial &serial, float yaw, float pitch, int16_t feed, ui
|
||||
frame[idx++] = feed & 0xFF;
|
||||
frame[idx++] = (feed >> 8) & 0xFF;
|
||||
|
||||
// 按键 (1 byte) - 用于能量机关模式标识
|
||||
frame[idx++] = key;
|
||||
// 拨杆 (1 byte: 高4位左拨杆，低4位右拨杆)
|
||||
// key 参数通过低4位传递能量机关模式信息
|
||||
frame[idx++] = (left_switch << 4) | (key & 0x0F);
|
||||
|
||||
// CRC8 (数据区: frame[2]到frame[12], 共11字节)
|
||||
// 当前固定为0xCC
|
||||
// CRC8 (固定为 0xCC)
|
||||
frame[idx++] = 0xCC;
|
||||
|
||||
// 帧尾
|
||||
frame[idx++] = FRAME_TAIL;
|
||||
|
||||
// 调试输出：打印完整帧内容 - 与 test_pitch_up.cpp 格式一致
|
||||
std::string frame_hex;
|
||||
char buf[4];
|
||||
for (int i = 0; i < FRAME_LENGTH; i++) {
|
||||
snprintf(buf, sizeof(buf), "%02X ", frame[i]);
|
||||
frame_hex += buf;
|
||||
}
|
||||
LOGM(STR_CTR(WORD_LIGHT_PURPLE, "[TX](%dB): %s | yaw=%d pitch=%d feed=%d key=%d"),
|
||||
FRAME_LENGTH, frame_hex.c_str(), yaw_val, pitch_val, feed, key);
|
||||
|
||||
serial.WriteData(frame, sizeof(frame));
|
||||
send_cnt += 1;
|
||||
// LOGM(STR_CTR(WORD_LIGHT_PURPLE, "send"));
|
||||
}
|
||||
|
||||
0
test_pitch_up
Normal file
0
test_pitch_up
Normal file
251
test_pitch_up.cpp
Normal file
251
test_pitch_up.cpp
Normal file
@@ -0,0 +1,251 @@
|
||||
/**
|
||||
* @file test_pitch_up.cpp
|
||||
* @brief 测试程序：单独控制 pitch 轴运动（支持命令行参数）
|
||||
*
|
||||
* 用法: ./test_pitch_up [pitch角度] [运行秒数]
|
||||
* 示例: ./test_pitch_up 1.5 10 (向上1.5度，运行10秒)
|
||||
*
|
||||
* 协议帧格式（15字节）：
|
||||
* | 0xBB | 0x77 | x_move(2B) | y_move(2B) | yaw(2B) | pitch(2B) | feed(2B) | switch(1B) | CRC8 | 0xEE |
|
||||
*/
|
||||
|
||||
#include <cstring>
|
||||
#include <iostream>
|
||||
#include <fcntl.h>
|
||||
#include <termios.h>
|
||||
#include <unistd.h>
|
||||
#include <chrono>
|
||||
#include <thread>
|
||||
#include <cstdlib>
|
||||
|
||||
// 帧定义 - 与示例程序完全一致
|
||||
constexpr uint8_t FRAME_HEADER_1 = 0xBB;
|
||||
constexpr uint8_t FRAME_HEADER_2 = 0x77;
|
||||
constexpr uint8_t FRAME_TAIL = 0xEE;
|
||||
constexpr int FRAME_LENGTH = 15;
|
||||
|
||||
// 串口配置 - 与示例程序一致
|
||||
constexpr const char *SERIAL_PORT = "/dev/ttyCH340";
|
||||
constexpr int BAUDRATE = 115200;
|
||||
|
||||
// CRC8 计算 - 与示例程序完全一致
|
||||
uint8_t calculateCRC8(const uint8_t *data, size_t len) {
|
||||
uint8_t crc = 0xFF;
|
||||
for (size_t i = 0; i < len; i++) {
|
||||
crc ^= data[i];
|
||||
for (int j = 0; j < 8; j++) {
|
||||
if (crc & 0x80) {
|
||||
crc = (crc << 1) ^ 0x31;
|
||||
} else {
|
||||
crc <<= 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
return crc;
|
||||
}
|
||||
|
||||
// 波特率转换 - 与示例程序一致
|
||||
speed_t convertBaudrate(int baudrate) {
|
||||
switch (baudrate) {
|
||||
case 9600: return B9600;
|
||||
case 19200: return B19200;
|
||||
case 38400: return B38400;
|
||||
case 57600: return B57600;
|
||||
case 115200: return B115200;
|
||||
case 230400: return B230400;
|
||||
case 460800: return B460800;
|
||||
case 921600: return B921600;
|
||||
default: return B115200;
|
||||
}
|
||||
}
|
||||
|
||||
int initSerial(const char *port, int baudrate) {
|
||||
std::cout << "正在打开串口 " << port << "..." << std::endl;
|
||||
|
||||
int fd = open(port, O_RDWR | O_NOCTTY | O_NDELAY);
|
||||
if (fd < 0) {
|
||||
std::cerr << "无法打开串口 " << port << ": " << strerror(errno) << std::endl;
|
||||
return -1;
|
||||
}
|
||||
|
||||
struct termios tty;
|
||||
memset(&tty, 0, sizeof(tty));
|
||||
|
||||
if (tcgetattr(fd, &tty) != 0) {
|
||||
std::cerr << "tcgetattr 错误: " << strerror(errno) << std::endl;
|
||||
close(fd);
|
||||
return -1;
|
||||
}
|
||||
|
||||
// 设置波特率
|
||||
speed_t baud = convertBaudrate(baudrate);
|
||||
cfsetospeed(&tty, baud);
|
||||
cfsetispeed(&tty, baud);
|
||||
|
||||
// 8N1 配置 - 与示例程序一致
|
||||
tty.c_cflag &= ~PARENB; // 无校验
|
||||
tty.c_cflag &= ~CSTOPB; // 1位停止位
|
||||
tty.c_cflag &= ~CSIZE;
|
||||
tty.c_cflag |= CS8; // 8位数据
|
||||
tty.c_cflag |= CREAD | CLOCAL; // 启用接收，忽略控制线
|
||||
tty.c_cflag &= ~CRTSCTS; // 禁用硬件流控
|
||||
|
||||
// 原始模式
|
||||
tty.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
|
||||
tty.c_iflag &= ~(IXON | IXOFF | IXANY);
|
||||
tty.c_oflag &= ~OPOST;
|
||||
|
||||
// 设置超时 - 与示例程序一致
|
||||
tty.c_cc[VMIN] = 0;
|
||||
tty.c_cc[VTIME] = 1; // 100ms 超时
|
||||
|
||||
if (tcsetattr(fd, TCSANOW, &tty) != 0) {
|
||||
std::cerr << "tcsetattr 错误: " << strerror(errno) << std::endl;
|
||||
close(fd);
|
||||
return -1;
|
||||
}
|
||||
|
||||
// 清空缓冲区
|
||||
tcflush(fd, TCIOFLUSH);
|
||||
std::cout << "串口打开成功" << std::endl;
|
||||
return fd;
|
||||
}
|
||||
|
||||
void sendControlFrame(int fd, int16_t pitch_val) {
|
||||
// 控制参数
|
||||
int16_t x_move = -100; // 平动左右 [-660, 660]
|
||||
int16_t y_move = -200; // 平动前后 [-660, 660]
|
||||
int16_t yaw_val = -300; // 云台偏航 [-660, 660]
|
||||
int16_t feed = -400; // 拨弹轮 [-660, 660]
|
||||
uint8_t left_switch = 3; // 左拨杆 [1, 3] 2 摩擦轮打开 3 关闭
|
||||
uint8_t right_switch = 3; // 右拨杆 [1, 3] 2 小陀螺 3 关闭
|
||||
|
||||
// 构建数据帧 - 与示例程序完全一致
|
||||
uint8_t frame[FRAME_LENGTH];
|
||||
int idx = 0;
|
||||
|
||||
// 帧头
|
||||
frame[idx++] = FRAME_HEADER_1;
|
||||
frame[idx++] = FRAME_HEADER_2;
|
||||
|
||||
// 平动左右 (2 bytes, int16, 小端序)
|
||||
frame[idx++] = x_move & 0xFF;
|
||||
frame[idx++] = (x_move >> 8) & 0xFF;
|
||||
|
||||
// 平动前后 (2 bytes, 小端序)
|
||||
frame[idx++] = y_move & 0xFF;
|
||||
frame[idx++] = (y_move >> 8) & 0xFF;
|
||||
|
||||
// 云台偏航 (2 bytes, 小端序)
|
||||
frame[idx++] = yaw_val & 0xFF;
|
||||
frame[idx++] = (yaw_val >> 8) & 0xFF;
|
||||
|
||||
// 云台俯仰 (2 bytes, 小端序) - pitch 值
|
||||
frame[idx++] = pitch_val & 0xFF;
|
||||
frame[idx++] = (pitch_val >> 8) & 0xFF;
|
||||
|
||||
// 拨弹轮 (2 bytes, 小端序)
|
||||
frame[idx++] = feed & 0xFF;
|
||||
frame[idx++] = (feed >> 8) & 0xFF;
|
||||
|
||||
// 拨杆 (1 byte: 高4位左拨杆，低4位右拨杆)
|
||||
frame[idx++] = (left_switch << 4) | right_switch;
|
||||
|
||||
// CRC8 (固定为 0xCC)
|
||||
frame[idx++] = 0xCC;
|
||||
|
||||
// 帧尾
|
||||
frame[idx++] = FRAME_TAIL;
|
||||
|
||||
// 调试输出：打印完整帧内容 - 与示例程序一致
|
||||
std::string frame_hex;
|
||||
char buf[4];
|
||||
for (int i = 0; i < FRAME_LENGTH; i++) {
|
||||
snprintf(buf, sizeof(buf), "%02X ", frame[i]);
|
||||
frame_hex += buf;
|
||||
}
|
||||
std::cout << "[TX](" << FRAME_LENGTH << "B): " << frame_hex
|
||||
<< "| pitch=" << pitch_val << std::endl;
|
||||
|
||||
// 发送数据
|
||||
ssize_t written = write(fd, frame, FRAME_LENGTH);
|
||||
if (written != FRAME_LENGTH) {
|
||||
std::cerr << "发送数据不完整: " << written << "/" << FRAME_LENGTH << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
void printUsage(const char* program) {
|
||||
std::cout << "用法: " << program << " [pitch角度] [运行秒数]" << std::endl;
|
||||
std::cout << " pitch角度: 目标角度，正值向上，负值向下，范围建议 (-3, 3) 度" << std::endl;
|
||||
std::cout << " 运行秒数: 发送时长，0或不填表示无限循环" << std::endl;
|
||||
std::cout << std::endl;
|
||||
std::cout << "示例:" << std::endl;
|
||||
std::cout << " " << program << " # 默认向上1度，无限循环" << std::endl;
|
||||
std::cout << " " << program << " 1.5 # 向上1.5度，无限循环" << std::endl;
|
||||
std::cout << " " << program << " -1 5 # 向下1度，运行5秒" << std::endl;
|
||||
std::cout << " " << program << " 2 10 # 向上2度，运行10秒" << std::endl;
|
||||
}
|
||||
|
||||
int main(int argc, char* argv[]) {
|
||||
// 默认参数
|
||||
double pitch_angle = -1; // 默认向上1度
|
||||
int duration_sec = 0; // 默认无限循环
|
||||
|
||||
// 解析命令行参数
|
||||
if (argc > 1) {
|
||||
pitch_angle = std::atof(argv[1]);
|
||||
}
|
||||
if (argc > 2) {
|
||||
duration_sec = std::atoi(argv[2]);
|
||||
}
|
||||
if (argc > 3) {
|
||||
printUsage(argv[0]);
|
||||
return 1;
|
||||
}
|
||||
|
||||
std::cout << "========================================" << std::endl;
|
||||
std::cout << "Pitch 轴控制测试程序" << std::endl;
|
||||
std::cout << "目标角度: " << (pitch_angle > 0 ? "向上 " : "向下 ")
|
||||
<< std::abs(pitch_angle) << " 度" << std::endl;
|
||||
if (duration_sec > 0) {
|
||||
std::cout << "运行时长: " << duration_sec << " 秒" << std::endl;
|
||||
} else {
|
||||
std::cout << "运行时长: 无限循环 (按 Ctrl+C 停止)" << std::endl;
|
||||
}
|
||||
std::cout << "发送频率: 50 Hz" << std::endl;
|
||||
std::cout << "========================================" << std::endl;
|
||||
|
||||
// 初始化串口
|
||||
int fd = initSerial(SERIAL_PORT, BAUDRATE);
|
||||
if (fd < 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
// 计算 pitch 值
|
||||
// 映射系数 220: 3度 -> 660
|
||||
int16_t pitch_val = static_cast<int16_t>(pitch_angle * 220);
|
||||
if (pitch_val > 660) pitch_val = 660;
|
||||
if (pitch_val < -660) pitch_val = -660;
|
||||
|
||||
std::cout << "Pitch 发送值: " << pitch_val << std::endl;
|
||||
std::cout << "----------------------------------------" << std::endl;
|
||||
|
||||
// 计算结束时间
|
||||
auto start_time = std::chrono::steady_clock::now();
|
||||
auto end_time = start_time + std::chrono::seconds(duration_sec);
|
||||
|
||||
// 持续发送，频率 50Hz
|
||||
while (true) {
|
||||
// 检查是否超时
|
||||
if (duration_sec > 0 && std::chrono::steady_clock::now() >= end_time) {
|
||||
std::cout << "运行时间到达 " << duration_sec << " 秒，停止发送" << std::endl;
|
||||
break;
|
||||
}
|
||||
|
||||
sendControlFrame(fd, pitch_val);
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(20)); // 50Hz
|
||||
}
|
||||
|
||||
close(fd);
|
||||
return 0;
|
||||
}
|
||||
BIN
test_yaw_swing
Executable file
BIN
test_yaw_swing
Executable file
Binary file not shown.
261
test_yaw_swing.cpp
Normal file
261
test_yaw_swing.cpp
Normal file
@@ -0,0 +1,261 @@
|
||||
/**
|
||||
* @file test_yaw_swing.cpp
|
||||
* @brief 测试程序：yaw 轴左右摆动测试
|
||||
*
|
||||
* 发送序列: yaw=100 保持1秒 -> yaw=-100 保持1秒 -> 循环
|
||||
* 用法: ./test_yaw_swing [循环次数]
|
||||
* 示例: ./test_yaw_swing 3 (循环3次后停止，默认无限循环)
|
||||
*
|
||||
* 协议帧格式（15字节）：
|
||||
* | 0xBB | 0x77 | x_move(2B) | y_move(2B) | yaw(2B) | pitch(2B) | feed(2B) | switch(1B) | CRC8 | 0xEE |
|
||||
*/
|
||||
|
||||
#include <cstring>
|
||||
#include <iostream>
|
||||
#include <fcntl.h>
|
||||
#include <termios.h>
|
||||
#include <unistd.h>
|
||||
#include <chrono>
|
||||
#include <thread>
|
||||
#include <cstdlib>
|
||||
|
||||
// 帧定义 - 与示例程序完全一致
|
||||
constexpr uint8_t FRAME_HEADER_1 = 0xBB;
|
||||
constexpr uint8_t FRAME_HEADER_2 = 0x77;
|
||||
constexpr uint8_t FRAME_TAIL = 0xEE;
|
||||
constexpr int FRAME_LENGTH = 15;
|
||||
|
||||
// 串口配置
|
||||
constexpr const char *SERIAL_PORT = "/dev/ttyCH340";
|
||||
constexpr int BAUDRATE = 115200;
|
||||
|
||||
// 测试参数
|
||||
constexpr int16_t YAW_RIGHT = 100; // 向右100
|
||||
constexpr int16_t YAW_LEFT = -100; // 向左-100
|
||||
constexpr int HOLD_TIME_MS = 1000; // 保持1秒
|
||||
constexpr int SEND_INTERVAL_MS = 20; // 50Hz
|
||||
|
||||
// CRC8 计算
|
||||
uint8_t calculateCRC8(const uint8_t *data, size_t len) {
|
||||
uint8_t crc = 0xFF;
|
||||
for (size_t i = 0; i < len; i++) {
|
||||
crc ^= data[i];
|
||||
for (int j = 0; j < 8; j++) {
|
||||
if (crc & 0x80) {
|
||||
crc = (crc << 1) ^ 0x31;
|
||||
} else {
|
||||
crc <<= 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
return crc;
|
||||
}
|
||||
|
||||
speed_t convertBaudrate(int baudrate) {
|
||||
switch (baudrate) {
|
||||
case 9600: return B9600;
|
||||
case 19200: return B19200;
|
||||
case 38400: return B38400;
|
||||
case 57600: return B57600;
|
||||
case 115200: return B115200;
|
||||
default: return B115200;
|
||||
}
|
||||
}
|
||||
|
||||
int initSerial(const char *port, int baudrate) {
|
||||
std::cout << "正在打开串口 " << port << "..." << std::endl;
|
||||
|
||||
int fd = open(port, O_RDWR | O_NOCTTY | O_NDELAY);
|
||||
if (fd < 0) {
|
||||
std::cerr << "无法打开串口 " << port << ": " << strerror(errno) << std::endl;
|
||||
return -1;
|
||||
}
|
||||
|
||||
struct termios tty;
|
||||
memset(&tty, 0, sizeof(tty));
|
||||
|
||||
if (tcgetattr(fd, &tty) != 0) {
|
||||
std::cerr << "tcgetattr 错误: " << strerror(errno) << std::endl;
|
||||
close(fd);
|
||||
return -1;
|
||||
}
|
||||
|
||||
speed_t baud = convertBaudrate(baudrate);
|
||||
cfsetospeed(&tty, baud);
|
||||
cfsetispeed(&tty, baud);
|
||||
|
||||
tty.c_cflag &= ~PARENB;
|
||||
tty.c_cflag &= ~CSTOPB;
|
||||
tty.c_cflag &= ~CSIZE;
|
||||
tty.c_cflag |= CS8;
|
||||
tty.c_cflag |= CREAD | CLOCAL;
|
||||
tty.c_cflag &= ~CRTSCTS;
|
||||
|
||||
tty.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
|
||||
tty.c_iflag &= ~(IXON | IXOFF | IXANY);
|
||||
tty.c_oflag &= ~OPOST;
|
||||
|
||||
tty.c_cc[VMIN] = 0;
|
||||
tty.c_cc[VTIME] = 1;
|
||||
|
||||
if (tcsetattr(fd, TCSANOW, &tty) != 0) {
|
||||
std::cerr << "tcsetattr 错误: " << strerror(errno) << std::endl;
|
||||
close(fd);
|
||||
return -1;
|
||||
}
|
||||
|
||||
tcflush(fd, TCIOFLUSH);
|
||||
std::cout << "串口打开成功" << std::endl;
|
||||
return fd;
|
||||
}
|
||||
|
||||
void sendControlFrame(int fd, int16_t yaw_val) {
|
||||
// 控制参数
|
||||
int16_t x_move = 0;
|
||||
int16_t y_move = 0;
|
||||
int16_t pitch_val = 0;
|
||||
int16_t feed = 0;
|
||||
uint8_t left_switch = 3;
|
||||
uint8_t right_switch = 3;
|
||||
|
||||
uint8_t frame[FRAME_LENGTH];
|
||||
int idx = 0;
|
||||
|
||||
// 帧头
|
||||
frame[idx++] = FRAME_HEADER_1;
|
||||
frame[idx++] = FRAME_HEADER_2;
|
||||
|
||||
// 平动左右
|
||||
frame[idx++] = x_move & 0xFF;
|
||||
frame[idx++] = (x_move >> 8) & 0xFF;
|
||||
|
||||
// 平动前后
|
||||
frame[idx++] = y_move & 0xFF;
|
||||
frame[idx++] = (y_move >> 8) & 0xFF;
|
||||
|
||||
// 云台偏航 (yaw)
|
||||
frame[idx++] = yaw_val & 0xFF;
|
||||
frame[idx++] = (yaw_val >> 8) & 0xFF;
|
||||
|
||||
// 云台俯仰
|
||||
frame[idx++] = pitch_val & 0xFF;
|
||||
frame[idx++] = (pitch_val >> 8) & 0xFF;
|
||||
|
||||
// 拨弹轮
|
||||
frame[idx++] = feed & 0xFF;
|
||||
frame[idx++] = (feed >> 8) & 0xFF;
|
||||
|
||||
// 拨杆
|
||||
frame[idx++] = (left_switch << 4) | right_switch;
|
||||
|
||||
// CRC8
|
||||
frame[idx++] = 0xCC;
|
||||
|
||||
// 帧尾
|
||||
frame[idx++] = FRAME_TAIL;
|
||||
|
||||
// 调试输出
|
||||
std::string frame_hex;
|
||||
char buf[4];
|
||||
for (int i = 0; i < FRAME_LENGTH; i++) {
|
||||
snprintf(buf, sizeof(buf), "%02X ", frame[i]);
|
||||
frame_hex += buf;
|
||||
}
|
||||
std::string direction = (yaw_val > 0) ? "右" : "左";
|
||||
std::cout << "[TX](" << FRAME_LENGTH << "B): " << frame_hex
|
||||
<< "| yaw=" << yaw_val << " (" << direction << ")" << std::endl;
|
||||
|
||||
ssize_t written = write(fd, frame, FRAME_LENGTH);
|
||||
if (written != FRAME_LENGTH) {
|
||||
std::cerr << "发送数据不完整: " << written << "/" << FRAME_LENGTH << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
// 发送指定yaw值，保持指定时间
|
||||
void sendYawForDuration(int fd, int16_t yaw_val, int duration_ms) {
|
||||
auto start = std::chrono::steady_clock::now();
|
||||
int count = 0;
|
||||
|
||||
while (true) {
|
||||
auto now = std::chrono::steady_clock::now();
|
||||
auto elapsed = std::chrono::duration_cast<std::chrono::milliseconds>(now - start).count();
|
||||
|
||||
if (elapsed >= duration_ms) {
|
||||
break;
|
||||
}
|
||||
|
||||
sendControlFrame(fd, yaw_val);
|
||||
count++;
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(SEND_INTERVAL_MS));
|
||||
}
|
||||
|
||||
std::cout << " 发送了 " << count << " 帧，时长 " << duration_ms << "ms" << std::endl;
|
||||
}
|
||||
|
||||
void printUsage(const char* program) {
|
||||
std::cout << "用法: " << program << " [循环次数]" << std::endl;
|
||||
std::cout << " 循环次数: 测试循环次数，0或不填表示无限循环" << std::endl;
|
||||
std::cout << std::endl;
|
||||
std::cout << "示例:" << std::endl;
|
||||
std::cout << " " << program << " # 无限循环 (按 Ctrl+C 停止)" << std::endl;
|
||||
std::cout << " " << program << " 5 # 循环5次后停止" << std::endl;
|
||||
}
|
||||
|
||||
int main(int argc, char* argv[]) {
|
||||
int loop_count = 0; // 0表示无限循环
|
||||
int current_loop = 0;
|
||||
|
||||
if (argc > 1) {
|
||||
loop_count = std::atoi(argv[1]);
|
||||
}
|
||||
if (argc > 2) {
|
||||
printUsage(argv[0]);
|
||||
return 1;
|
||||
}
|
||||
|
||||
std::cout << "========================================" << std::endl;
|
||||
std::cout << "Yaw 轴摆动测试程序" << std::endl;
|
||||
std::cout << "测试序列: yaw=" << YAW_RIGHT << "(右,1s) -> yaw=" << YAW_LEFT << "(左,1s)" << std::endl;
|
||||
if (loop_count > 0) {
|
||||
std::cout << "循环次数: " << loop_count << " 次" << std::endl;
|
||||
} else {
|
||||
std::cout << "循环次数: 无限 (按 Ctrl+C 停止)" << std::endl;
|
||||
}
|
||||
std::cout << "发送频率: 50 Hz" << std::endl;
|
||||
std::cout << "========================================" << std::endl;
|
||||
|
||||
// 初始化串口
|
||||
int fd = initSerial(SERIAL_PORT, BAUDRATE);
|
||||
if (fd < 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
std::cout << "----------------------------------------" << std::endl;
|
||||
|
||||
// 主循环
|
||||
while (true) {
|
||||
if (loop_count > 0 && current_loop >= loop_count) {
|
||||
std::cout << "完成 " << loop_count << " 次循环，测试结束" << std::endl;
|
||||
break;
|
||||
}
|
||||
|
||||
current_loop++;
|
||||
if (loop_count > 0) {
|
||||
std::cout << "\n=== 第 " << current_loop << "/" << loop_count << " 次循环 ===" << std::endl;
|
||||
} else {
|
||||
std::cout << "\n=== 第 " << current_loop << " 次循环 ===" << std::endl;
|
||||
}
|
||||
|
||||
// 步骤1: yaw=100 (向右) 保持1秒
|
||||
std::cout << "【步骤1】yaw=" << YAW_RIGHT << " (向右) 保持 " << HOLD_TIME_MS << "ms" << std::endl;
|
||||
sendYawForDuration(fd, YAW_RIGHT, HOLD_TIME_MS);
|
||||
|
||||
// 步骤2: yaw=-100 (向左) 保持1秒
|
||||
std::cout << "【步骤2】yaw=" << YAW_LEFT << " (向左) 保持 " << HOLD_TIME_MS << "ms" << std::endl;
|
||||
sendYawForDuration(fd, YAW_LEFT, HOLD_TIME_MS);
|
||||
}
|
||||
|
||||
close(fd);
|
||||
std::cout << "串口已关闭" << std::endl;
|
||||
return 0;
|
||||
}
|
||||
@@ -1,6 +1,6 @@
|
||||
@echo off
|
||||
|
||||
rem <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>س<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ľ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͳ<EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɸ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
rem 定义需监控程序的进程名和程序路径，可根据需要进行修改
|
||||
|
||||
set AppName=run.exe
|
||||
|
||||
@@ -8,43 +8,43 @@ set AppArgs= --run-with-camera --wait-uart --show-armor-box
|
||||
|
||||
set AppPath=C:\Users\sjturm\Desktop\AutoAim\build\Release\
|
||||
|
||||
title <EFBFBD><EFBFBD><EFBFBD>̼<EFBFBD><EFBFBD><EFBFBD>
|
||||
title 进程监控
|
||||
|
||||
cls
|
||||
|
||||
echo.
|
||||
|
||||
echo <EFBFBD><EFBFBD><EFBFBD>̼<EFBFBD><EFBFBD>ؿ<EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
echo 进程监控开始……
|
||||
|
||||
echo.
|
||||
|
||||
rem <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
rem 定义循环体
|
||||
|
||||
:startjc
|
||||
|
||||
rem <EFBFBD>ӽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>б<EFBFBD><EFBFBD>в<EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
rem 从进程列表中查找指定进程
|
||||
|
||||
rem <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҳ<EFBFBD><EFBFBD>д<EFBFBD><EFBFBD> qprocess %AppName% >nul <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>鷢<EFBFBD><EFBFBD><EFBFBD>䣩
|
||||
rem 下面语句也可写成 qprocess %AppName% >nul （经验发布后补充）
|
||||
|
||||
qprocess|findstr /i %AppName% >nul
|
||||
|
||||
rem <EFBFBD><EFBFBD><EFBFBD><EFBFBD>errorlevel<EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><EFBFBD>ʾ<EFBFBD><EFBFBD><EFBFBD>ҵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>̣<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD>в<EFBFBD><EFBFBD>ҵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
rem 变量errorlevel的值等于0表示查找到进程，否则没有查找到进程
|
||||
|
||||
if %errorlevel%==0 (
|
||||
|
||||
echo ^>%date:~0,10% %time:~0,8% <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С<EFBFBD><EFBFBD><EFBFBD>
|
||||
echo ^>%date:~0,10% %time:~0,8% 程序正在运行……
|
||||
|
||||
)else (
|
||||
|
||||
echo ^>%date:~0,10% %time:~0,8% û<EFBFBD>з<EFBFBD><EFBFBD>ֳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
echo ^>%date:~0,10% %time:~0,8% 没有发现程序进程
|
||||
|
||||
echo ^>%date:~0,10% %time:~0,8% <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
echo ^>%date:~0,10% %time:~0,8% 正在重新启动程序
|
||||
|
||||
start %AppPath%%AppName%%AppArgs% 2>nul && echo ^>%date:~0,10% %time:~0,8% <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɹ<EFBFBD>
|
||||
start %AppPath%%AppName%%AppArgs% 2>nul && echo ^>%date:~0,10% %time:~0,8% 启动程序成功
|
||||
|
||||
)
|
||||
|
||||
rem <EFBFBD><EFBFBD>ping<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
rem 用ping命令来实现延时运行
|
||||
|
||||
ping -n 2 -w 1000 1.1.1.1>nul
|
||||
|
||||
|
||||
Reference in New Issue
Block a user