132 lines
3.0 KiB
C++
132 lines
3.0 KiB
C++
//
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// Created by xixiliadorabarry on 1/24/19.
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//
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#include <iostream>
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#include <opencv2/core/core.hpp>
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#include <energy/energy.h>
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#include <uart/uart.h>
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#include <energy/param_struct_define.h>
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#include <energy/constant.h>
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#include <camera/camera_wrapper.h>
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#include <camera/video_wrapper.h>
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#include <camera/wrapper_head.h>
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#include <armor_finder/armor_finder.h>
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#include <options/options.h>
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#include <log.h>
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#include <thread>
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using namespace cv;
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using namespace std;
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#define ENERGY_STATE 1
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#define ARMOR_STATE 0
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int state = ENERGY_STATE;
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float curr_yaw=0, curr_pitch=0;
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float mark_yaw=0, mark_pitch=0;
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int mark = 0;
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void uartReceive(Uart* uart);
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int main(int argc, char *argv[])
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{
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process_options(argc, argv);
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Uart uart;
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thread receive(uartReceive, &uart);
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bool flag = true;
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while (flag)
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{
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int ally_color = ALLY_RED;
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int energy_part_rotation = CLOCKWISE;
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int from_camera = 1;
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if(!run_with_camera) {
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cout << "Input 1 for camera, 0 for video files" << endl;
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cin >> from_camera;
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}
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WrapperHead *video;
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if(from_camera)
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video = new CameraWrapper;
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else
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video = new VideoWrapper("r_l_640.avi", "fan_640.avi");
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if (video->init()) {
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cout << "Video source initialization successfully." << endl;
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}
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Mat energy_src, armor_src;
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ArmorFinder armorFinder(ENEMY_BLUE, uart, "../paras/");
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Energy energy(uart);
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energy.setAllyColor(ally_color);
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energy.setRotation(energy_part_rotation);
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while (video->read(energy_src, armor_src))
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{
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if(show_origin) {
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imshow("enery src", energy_src);
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imshow("armor src", armor_src);
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}
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if(state == ENERGY_STATE){
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if(from_camera==0){
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energy.extract(energy_src);
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}
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energy.run(energy_src);
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}else{
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armorFinder.run(armor_src);
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}
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if (waitKey(1) == 'q') {
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flag = false;
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break;
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}
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}
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delete video;
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cout << "Program fails. Restarting" << endl;
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}
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return 0;
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}
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void uartReceive(Uart* uart){
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char buffer[100];
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int cnt=0;
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while(true){
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char data;
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while((data=uart->receive()) != '\n'){
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buffer[cnt++] = data;
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if(cnt >= 100){
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// LOGE("data receive over flow!");
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}
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}
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if(cnt == 10){
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if(buffer[8] == 'e'){
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state = ENERGY_STATE;
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// LOGM("Energy state");
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}else if(buffer[8] == 'a'){
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state = ARMOR_STATE;
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// LOGM("Armor state");
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}
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memcpy(&curr_yaw, buffer, 4);
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memcpy(&curr_pitch, buffer+4, 4);
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// LOGM("Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
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if(buffer[9] == 1){
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if(mark == 0){
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mark = 1;
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mark_yaw = curr_yaw;
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mark_pitch = curr_pitch;
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}
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// LOGM("Marked");
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}
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}
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cnt = 0;
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}
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}
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