VSAG/vision_sjtu_19
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fix bug

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This commit is contained in:
xinyang
2019-08-07 01:32:30 +08:00
parent 0307a01f55
commit 0db1fba0d8
4 changed files with 13 additions and 14 deletions
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17
main.cpp
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@@ -44,7 +44,7 @@ WrapperHead *video_chassis = nullptr; // 底盘摄像头视频源
Serial serial(115200); // 串口对象
uint8_t last_state = INIT_STATE; // 上次状态，用于初始化
// 自瞄主程序对象
ArmorFinder armor_finder(mcu_data.enemy_color, serial, PROJECT_DIR"/tools/para/", mcu_data.use_classifier);
ArmorFinder armor_finder(mcu_data.enemy_color, serial, PROJECT_DIR"/tools/para/");
// 能量机关主程序对象
Energy energy(serial, mcu_data.enemy_color);
@@ -66,8 +66,8 @@ int main(int argc, char *argv[]) {
video_gimbal = new CameraWrapper(ARMOR_CAMERA_EXPOSURE, ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
video_chassis = new CameraWrapper(ENERGY_CAMERA_EXPOSURE, ENERGY_CAMERA_GAIN, 2/*, "energy"*/);
} else {
video_gimbal = new VideoWrapper(PROJECT_DIR"/26.avi");
video_chassis = new VideoWrapper(PROJECT_DIR"/26.avi");
video_gimbal = new VideoWrapper(PROJECT_DIR"/5.avi");
video_chassis = new VideoWrapper(PROJECT_DIR"/5.avi");
}
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
@@ -93,8 +93,9 @@ int main(int argc, char *argv[]) {
bool ok = true;
cout << "start running" << endl;
do {
auto curr_state = mcu_data.state;
CNT_TIME("Total", {
if (mcu_data.state == BIG_ENERGY_STATE) {//大能量机关模式
if (curr_state == BIG_ENERGY_STATE) {//大能量机关模式
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
LOGM(STR_CTR(WORD_BLUE, "Start Big Energy!"));
destroyAllWindows();
@@ -110,7 +111,7 @@ int main(int argc, char *argv[]) {
checkReconnect(video_chassis->read(chassis_src));
energy.setBigEnergyInit();
}
last_state = mcu_data.state;//更新上一帧状态
last_state = curr_state;//更新上一帧状态
ok = checkReconnect(video_gimbal->read(gimbal_src));
video_chassis->read(chassis_src);
#ifdef GIMBAL_FLIP_MODE
@@ -124,7 +125,7 @@ int main(int argc, char *argv[]) {
if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像
energy.runBig(gimbal_src, chassis_src);
// energy.runBig(gimbal_src);
} else if (mcu_data.state == SMALL_ENERGY_STATE) {
} else if (curr_state == SMALL_ENERGY_STATE) {
if (last_state != SMALL_ENERGY_STATE) {
LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!"));
destroyAllWindows();
@@ -139,7 +140,7 @@ int main(int argc, char *argv[]) {
}
energy.setSmallEnergyInit();
}
last_state = mcu_data.state;//更新上一帧状态
last_state = curr_state;//更新上一帧状态
ok = checkReconnect(video_gimbal->read(gimbal_src));
#ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
@@ -162,7 +163,7 @@ int main(int argc, char *argv[]) {
}
}
}
last_state = mcu_data.state;
last_state = curr_state;
CNT_TIME(STR_CTR(WORD_GREEN, "read img"), {
if(!checkReconnect(video_gimbal->read(gimbal_src))) continue;
});