VSAG/vision_sjtu_19
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win32 ver

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xinyang
2019-05-15 16:32:30 +08:00
parent 6980145e83
commit 0d6aae81b8
7 changed files with 46 additions and 39 deletions
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24
main.cpp
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@@ -25,7 +25,7 @@ using namespace cv;
using namespace std;
int state = ENERGY_STATE;
int state = ARMOR_STATE;
float curr_yaw = 0, curr_pitch = 0;
float mark_yaw = 0, mark_pitch = 0;
int mark = 0;
@@ -118,7 +118,7 @@ int main(int argc, char *argv[]) {
return 0;
}
#define RECEIVE_LOG_LEVEL LOG_NOTHING
#define RECEIVE_LOG_LEVEL LOG_MSG
char uartReadByte(Serial &uart) {
while (uart.GetBytesInCOM() == 0);
@@ -138,45 +138,45 @@ void uartReceive(Serial* uart) {
while ((data = uartReadByte(*uart)) != '\n') {
buffer[cnt++] = data;
if (cnt >= 100) {
LOG(RECEIVE_LOG_LEVEL, "data receive over flow!");
//LOG(RECEIVE_LOG_LEVEL, "data receive over flow!");
cnt = 0;
}
}
LOGM("%d", cnt);
//LOGM("%d", cnt);
if (cnt == 12) {
if (buffer[8] == 'e') {
state = ENERGY_STATE;
LOG(RECEIVE_LOG_LEVEL, "Energy state");
//LOG(RECEIVE_LOG_LEVEL, "Energy state");
} else if (buffer[8] == 'a') {
state = ARMOR_STATE;
LOG(RECEIVE_LOG_LEVEL, "Armor state");
//LOG(RECEIVE_LOG_LEVEL, "Armor state");
}
if (buffer[10] == 0){
use_classifier = false;
LOG(RECEIVE_LOG_LEVEL, "Classifier off!");
//LOG(RECEIVE_LOG_LEVEL, "Classifier off!");
} else if(buffer[10] == 1){
use_classifier = true;
LOG(RECEIVE_LOG_LEVEL, "Classifier on!");
//LOG(RECEIVE_LOG_LEVEL, "Classifier on!");
}
if (buffer[11] == ENEMY_BLUE) {
LOG(RECEIVE_LOG_LEVEL, "ENEMY_BLUE!");
//LOG(RECEIVE_LOG_LEVEL, "ENEMY_BLUE!");
ally_color = ALLY_RED;
enemy_color = ENEMY_BLUE;
} else if (buffer[11] == ENEMY_RED) {
LOG(RECEIVE_LOG_LEVEL, "ENEMY_RED!");
//LOG(RECEIVE_LOG_LEVEL, "ENEMY_RED!");
ally_color = ALLY_BLUE;
enemy_color = ENEMY_RED;
}
memcpy(&curr_yaw, buffer, 4);
memcpy(&curr_pitch, buffer + 4, 4);
LOG(RECEIVE_LOG_LEVEL, "Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
//LOG(RECEIVE_LOG_LEVEL, "Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
if (buffer[9] == 1) {
if (mark == 0) {
mark = 1;
mark_yaw = curr_yaw;
mark_pitch = curr_pitch;
}
LOG(RECEIVE_LOG_LEVEL, "Marked");
//LOG(RECEIVE_LOG_LEVEL, "Marked");
}
}
cnt = 0;