From 08abe70df62ea956a62a7a5a76bf6cdb1ba911d2 Mon Sep 17 00:00:00 2001
From: xinyang <895639507@qq.com>
Date: Mon, 15 Jul 2019 09:45:07 +0800
Subject: [PATCH 1/2] fix bug.

---
 main.cpp                             |  8 ++++----
 others/include/config/setconfig.h    | 16 ++++++++++++++++
 others/src/camera/camera_wrapper.cpp |  7 ++++---
 3 files changed, 24 insertions(+), 7 deletions(-)

diff --git a/main.cpp b/main.cpp
index 700eb69..3b192ea 100644
--- a/main.cpp
+++ b/main.cpp
@@ -30,7 +30,7 @@ using namespace std;
 mcu_data mcuData = {    // 单片机端回传结构体
         0,              // 当前云台yaw角
         0,              // 当前云台pitch角
-        BIG_ENERGY_STATE,    // 当前状态，自瞄-大符-小符
+        ARMOR_STATE,    // 当前状态，自瞄-大符-小符
         0,              // 云台角度标记位
         1,              // 是否启用数字识别
         ENEMY_RED,      // 敌方颜色
@@ -103,7 +103,7 @@ int main(int argc, char *argv[]) {
                     }
                     ok = checkReconnect(video_gimbal->read(gimbal_src));
 #ifdef GIMBAL_FLIP_MODE
-                    flip(gimbal_src, gimbal_src, CHASSIS_FLIP_MODE);
+                    flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
 #endif
                     if (!from_camera) extract(gimbal_src, chassis_src);
                     if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频
@@ -118,7 +118,7 @@ int main(int argc, char *argv[]) {
                     last_state = mcuData.state;
                     ok = checkReconnect(video_gimbal->read(gimbal_src));
 #ifdef GIMBAL_FLIP_MODE
-                    flip(gimbal_src, gimbal_src, CHASSIS_FLIP_MODE);
+                    flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
 #endif
                     if (!from_camera) extract(gimbal_src);
                     if (save_video) saveVideos(gimbal_src);
@@ -127,7 +127,7 @@ int main(int argc, char *argv[]) {
                             armorFinder.run(gimbal_src);
                     });
                 }
-//                cv::waitKey(0);
+//                cv::waitKey(1);
             });
         } while (ok);
         delete video_gimbal;
diff --git a/others/include/config/setconfig.h b/others/include/config/setconfig.h
index ad02e32..86412d7 100644
--- a/others/include/config/setconfig.h
+++ b/others/include/config/setconfig.h
@@ -8,6 +8,21 @@
     #warning "Without config.h"
 #endif
 
+#ifndef CAMERA_EXPOSURE
+    #define CAMERA_EXPOSURE     (10)
+#endif
+
+#ifndef CAMERA_BLUE_GAIN
+    #define CAMERA_BLUE_GAIN        (100)
+#endif
+
+#ifndef CAMERA_GREEN_GAIN
+    #define CAMERA_GREEN_GAIN       (100)
+#endif
+
+#ifndef CAMERA_RED_GAIN
+    #define CAMERA_RED_GAIN         (100)
+#endif
 
 #ifndef ARMOR_CAMERA_GAIN
     #define ARMOR_CAMERA_GAIN   (30)
@@ -15,6 +30,7 @@
 #ifndef ENERGY_CAMERA_GAIN
     #define ENERGY_CAMERA_GAIN  (20)
 #endif
+
 //#define GIMBAL_FLIP_MODE    (-1)
 //#define CHASSIS_FLIP_MODE   (-1)
 
diff --git a/others/src/camera/camera_wrapper.cpp b/others/src/camera/camera_wrapper.cpp
index eb328e4..901e6a6 100644
--- a/others/src/camera/camera_wrapper.cpp
+++ b/others/src/camera/camera_wrapper.cpp
@@ -5,6 +5,7 @@
 #include <camera/camera_wrapper.h>
 #include <log.h>
 #include <options/options.h>
+#include <config/setconfig.h>
 
 using namespace std;
 
@@ -75,10 +76,10 @@ bool CameraWrapper::init() {
 	LOGM("successfully loaded %s!", filepath);
 #elif defined(Linux)
     CameraSetAeState(h_camera, false);
-    CameraSetExposureTime(h_camera, 10*1000);
-    CameraSetAnalogGain(h_camera, 50);
+    CameraSetExposureTime(h_camera, CAMERA_EXPOSURE*1000);
+    CameraSetAnalogGain(h_camera, ARMOR_CAMERA_GAIN);
     if(mode == 0){
-        CameraSetGain(h_camera, 100, 100, 100);
+        CameraSetGain(h_camera, CAMERA_BLUE_GAIN, CAMERA_GREEN_GAIN, CAMERA_RED_GAIN);
         CameraSetLutMode(h_camera, LUTMODE_PRESET);
     }
 #endif

From 819127ab935bd736976f48f1a54824f18cae789b Mon Sep 17 00:00:00 2001
From: xinyang <895639507@qq.com>
Date: Mon, 15 Jul 2019 09:56:05 +0800
Subject: [PATCH 2/2] update startup

---
 tools/auto-pull.sh      | 1 +
 tools/create-startup.sh | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/tools/auto-pull.sh b/tools/auto-pull.sh
index 75effba..0a951b2 100755
--- a/tools/auto-pull.sh
+++ b/tools/auto-pull.sh
@@ -3,4 +3,5 @@
 cd $(dirname $0)/../
 timeout 8 git pull
 cd cmake-build-debug
+cmake ..
 make -j4
diff --git a/tools/create-startup.sh b/tools/create-startup.sh
index c81e515..2681763 100755
--- a/tools/create-startup.sh
+++ b/tools/create-startup.sh
@@ -2,5 +2,5 @@
 
 echo "#!/bin/bash" > $2/startup-run
 echo "$1/tools/auto-pull.sh" >> $2/startup-run
-echo "gnome-terminal -- bash -c \"echo sjturm | sudo -S $1/tools/monitor.sh \\\"$2/run --run-with-camera --save-video --wait-uart\\\"\"" >> $2/startup-run
+echo "gnome-terminal -- bash -c \"echo sjturm | sudo -S $1/tools/monitor.sh \\\"$2/run --run-with-camera --save-video --wait-uart --save-labelled-boxes --show-armor-box\\\"\"" >> $2/startup-run
 chmod +x $2/startup-run