193 lines
8.3 KiB
C++
193 lines
8.3 KiB
C++
/**********************************************************************/
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/* ____ _ _____ _ _ ____ __ __ ______ __ */
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/* / ___| | |_ _| | | | | _ \| \/ | / ___\ \ / / */
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/* \___ \ _ | | | | | | | |_____| |_) | |\/| |_____| | \ \ / / */
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/* ___) | |_| | | | | |_| |_____| _ <| | | |_____| |___ \ V / */
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/* |____/ \___/ |_| \___/ |_| \_\_| |_| \____| \_/ */
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/* */
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/**********************************************************************/
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#include <iostream>
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#include <thread>
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#include <opencv2/core/core.hpp>
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#include <serial.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 <energy/energy.h>
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#include <armor_finder/armor_finder.h>
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#include <options.h>
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#include <additions.h>
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#include <config/setconfig.h>
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#define DO_NOT_CNT_TIME
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#include <log.h>
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using namespace cv;
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using namespace std;
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McuData mcu_data = { // 单片机端回传结构体
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0, // 当前云台yaw角
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0, // 当前云台pitch角
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BIG_ENERGY_STATE, // 当前状态，自瞄-大符-小符
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0, // 云台角度标记位
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1, // 是否启用数字识别
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ENEMY_RED, // 敌方颜色
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0, // 能量机关x轴补偿量
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0, // 能量机关y轴补偿量
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};
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WrapperHead *video_gimbal = nullptr; // 云台摄像头视频源
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WrapperHead *video_chassis = nullptr; // 底盘摄像头视频源
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Serial serial(115200); // 串口对象
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uint8_t last_state = INIT_STATE; // 上次状态，用于初始化
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// 自瞄主程序对象
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ArmorFinder armor_finder(mcu_data.enemy_color, serial, PROJECT_DIR"/tools/para/", mcu_data.use_classifier);
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// 能量机关主程序对象
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Energy energy(serial, mcu_data.enemy_color);
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int box_distance = 0;
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int main(int argc, char *argv[]) {
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processOptions(argc, argv); // 处理命令行参数
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thread receive(uartReceive, &serial); // 开启串口接收线程
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int from_camera = 1; // 根据条件选择视频源
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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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while (true) {
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// 打开视频源
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if (from_camera) {
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video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
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video_chassis = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "energy"*/);
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} else {
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video_gimbal = new VideoWrapper("/home/sun/桌面/shiying/blue_1.avi");
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video_chassis = new VideoWrapper("/home/sun/桌面/shiying/blue_1.avi");
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}
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if (video_gimbal->init()) {
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LOGM("video_gimbal source initialization successfully.");
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} else {
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LOGW("video_gimbal source unavailable!");
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}
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if (video_chassis->init()) {
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LOGM("video_chassis source initialization successfully.");
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} else {
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LOGW("video_chassis source unavailable!");
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}
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// 跳过前10帧噪声图像。
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Mat gimbal_src, chassis_src;
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for (int i = 0; i < 10; i++) {
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if (video_gimbal) {
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video_gimbal->read(gimbal_src);
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}
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if (video_chassis) {
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video_chassis->read(chassis_src);
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}
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}
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bool ok = true;
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cout << "start running" << endl;
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do {
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CNT_TIME("Total", {
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if (mcu_data.state == BIG_ENERGY_STATE) {//大能量机关模式
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if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化
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LOGM(STR_CTR(WORD_BLUE, "Start Big Energy!"));
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destroyAllWindows();
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if (from_camera) {
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delete video_gimbal;
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video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
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if (video_gimbal->init()) {
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LOGM("video_gimbal source initialization successfully.");
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} else {
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LOGW("video_gimbal source unavailable!");
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}
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}
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checkReconnect(video_chassis->read(chassis_src));
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energy.setBigEnergyInit();
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}
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last_state = mcu_data.state;//更新上一帧状态
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ok = checkReconnect(video_gimbal->read(gimbal_src));
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video_chassis->read(chassis_src);
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#ifdef GIMBAL_FLIP_MODE
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flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
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#endif
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#ifdef CHASSIS_FLIP_MODE
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flip(chassis_src, chassis_src, CHASSIS_FLIP_MODE);
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#endif
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if (!from_camera) extract(gimbal_src, chassis_src);
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if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频
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if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像
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// energy.runBig(gimbal_src, chassis_src);
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energy.runBig(gimbal_src);
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} else if (mcu_data.state == SMALL_ENERGY_STATE) {
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if (last_state != SMALL_ENERGY_STATE) {
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LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!"));
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destroyAllWindows();
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if (from_camera) {
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delete video_gimbal;
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video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
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if (video_gimbal->init()) {
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LOGM("video_gimbal source initialization successfully.");
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} else {
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LOGW("video_gimbal source unavailable!");
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}
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}
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energy.setSmallEnergyInit();
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}
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last_state = mcu_data.state;//更新上一帧状态
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ok = checkReconnect(video_gimbal->read(gimbal_src));
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#ifdef GIMBAL_FLIP_MODE
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flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
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#endif
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if (!from_camera) extract(gimbal_src);
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if (save_video) saveVideos(gimbal_src);//保存视频
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if (show_origin) showOrigin(gimbal_src);//显示原始图像
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energy.runSmall(gimbal_src);
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} else { // 自瞄模式
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if (last_state != ARMOR_STATE) {
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LOGM(STR_CTR(WORD_RED, "Start Armor!"));
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destroyAllWindows();
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if (from_camera) {
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delete video_gimbal;
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video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
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if (video_gimbal->init()) {
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LOGM("video_gimbal source initialization successfully.");
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} else {
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LOGW("video_gimbal source unavailable!");
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}
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}
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}
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last_state = mcu_data.state;
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CNT_TIME(STR_CTR(WORD_GREEN, "read img"), {
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if (!checkReconnect(video_gimbal->read(gimbal_src))) continue;
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});
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#ifdef GIMBAL_FLIP_MODE
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flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
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#endif
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// CNT_TIME("something whatever", {
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if (!from_camera) extract(gimbal_src);
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if (save_video) saveVideos(gimbal_src);
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if (show_origin) showOrigin(gimbal_src);
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// });
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CNT_TIME(STR_CTR(WORD_CYAN, "Armor Time"), {
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armor_finder.run(gimbal_src);
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});
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}
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// cv::waitKey(0);
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});
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} while (ok);
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delete video_gimbal;
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video_gimbal = nullptr;
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delete video_chassis;
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video_chassis = nullptr;
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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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