97 lines
2.4 KiB
C++
97 lines
2.4 KiB
C++
//
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// Created by sjturm on 19-5-17.
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//
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#ifndef _ADDITIONS_H_
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#define _ADDITIONS_H_
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#include <stdint.h>
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#include <systime.h>
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#include <serial.h>
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#include <opencv2/core.hpp>
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// 单片机端回传数据结构体
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struct McuData {
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float curr_yaw; // 当前云台yaw角度
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float curr_pitch; // 当前云台pitch角
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uint8_t state; // 当前状态
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uint8_t mark; // 云台角度标记位
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uint8_t anti_top; // 是否为反陀螺模式
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uint8_t enemy_color; // 敌方颜色
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int reserved_x; // 保留位 (原能量机关x轴补偿量)
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int reserved_y; // 保留位 (原能量机关y轴补偿量)
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};
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extern McuData mcu_data;
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// 串口接收函数
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void uartReceive(Serial *pSerial);
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// 相机断线重连函数
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bool checkReconnect(bool is_camera_connect);
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// 视频保存函数
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void saveVideos(const cv::Mat &src);
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// 原始图像显示函数
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void showOrigin(const cv::Mat &src);
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// 图像裁剪函数
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void extract(cv::Mat &src);
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double getPointLength(const cv::Point2f &p);
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#include <mutex>
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// 循环队列
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template<class type, int length>
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class RoundQueue {
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private:
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type data[length];
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int head;
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int tail;
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int count;
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mutable std::mutex mtx;
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public:
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RoundQueue<type, length>() : head(0), tail(0), count(0) {};
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constexpr int capacity() const {
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return length;
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};
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int size() const {
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std::lock_guard<std::mutex> lock(mtx);
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return count;
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};
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bool empty() const {
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std::lock_guard<std::mutex> lock(mtx);
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return count == 0;
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};
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void push(const type &obj) {
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std::lock_guard<std::mutex> lock(mtx);
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data[head] = obj;
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head = (head + 1) % length;
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if (count < length) {
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count++;
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} else {
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tail = (tail + 1) % length;
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}
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};
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bool pop(type &obj) {
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std::lock_guard<std::mutex> lock(mtx);
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if (count == 0) return false;
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obj = data[tail];
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tail = (tail + 1) % length;
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count--;
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return true;
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};
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type operator[](int idx) const {
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std::lock_guard<std::mutex> lock(mtx);
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if (count == 0) return data[0]; // will return garbage but safe from crash
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if (idx < 0) idx += count;
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if (idx < 0) idx = 0;
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if (idx >= count) idx = count - 1;
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return data[(tail + idx) % length];
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};
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};
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#endif /* _ADDITIONS_H_ */
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