energy changed

2019-07-06 21:53:14 +08:00
parent 0ffec961da
commit 125c09b79e
9 changed files with 84 additions and 72 deletions
--- a/energy/include/energy/energy.h
+++ b/energy/include/energy/energy.h
@@ -30,7 +30,8 @@ public:
 	Serial &serial;//串口
 	void setEnergyRotationInit();//判断顺逆时针函数
 	void extract(cv::Mat &src);//框取图像中的一块区域进行处理
-	void sendTargetByUart(float x, float y, float z);//向主控板发送数据
+    void sendBigTarget(Serial& serial, float x, float y, float z);
+    void sendSmallTarget(Serial& serial, float x, float y, char change, char shoot);


 private:
@@ -62,6 +63,7 @@ private:
 	float origin_yaw, origin_pitch;//初始的云台角度设定值
 	float target_cnt;//用于记录寻找到的装甲板总数，该值变化则立即中断主控板发射进程，防止重复击打已点亮的装甲板
    bool save_new_mark;//若操作手进行过手动标定，则为true
+    bool small_energy_shoot;//若为true，则要求主控板发弹
 	std::vector<EnergyPart> fans;//图像中所有扇叶
 	std::vector<EnergyPart> armors;//图像中所有装甲板
    std::vector<EnergyPart> centerRs;//风车中心字母R的可能候选区
--- a/energy/src/energy/calibrate/structing.cpp
+++ b/energy/src/energy/calibrate/structing.cpp
@@ -46,5 +46,5 @@ void Energy::StructingElementErodeDilate(cv::Mat &src) {
 //    imshow("dilate_3", src);

    erode(src,src, element_erode_2);
-    imshow("erode_2", src);
+//    imshow("erode_2", src);
 }
--- a/energy/src/energy/find/energy_finder.cpp
+++ b/energy/src/energy/find/energy_finder.cpp
@@ -32,24 +32,15 @@ int Energy::findFan(const cv::Mat src, int &last_fans_cnt) {
 		}
        fans.emplace_back(fan_contour);

-       /* double cur_contour_area = contourArea(fan_contour);
-        RotatedRect cur_rect = minAreaRect(fan_contour);
-        Size2f cur_size = cur_rect.size;
-
-        cout<<"cur_contour_area: "<<cur_contour_area<<'\t'<<"rect_area: "<<cur_size.area()<<
-            '\t'<<"ratio: "<<cur_contour_area/cur_size.area()<<endl;
-
-        float length = cur_size.height > cur_size.width ? cur_size.height : cur_size.width;
-        float width = cur_size.height < cur_size.width ? cur_size.height : cur_size.width;
-        cout<<"fan area: "<<length<<'\t'<<width<<endl;
-
-		if(length>20&&width>20){
-			cout<<cur_rect.center;
-			fans.emplace_back(fan_contour);
-			cout<<"fan area: "<<length<<'\t'<<width<<endl;
-		}
-        cout<<"fan area: "<<length<<'\t'<<width<<endl;*/
-
+//        RotatedRect cur_rect = minAreaRect(fan_contour);
+//        Size2f cur_size = cur_rect.size;
+//        float length = cur_size.height > cur_size.width ? cur_size.height : cur_size.width;
+//        float width = cur_size.height < cur_size.width ? cur_size.height : cur_size.width;
+//        if(length>20&&width>20){
+//			cout<<cur_rect.center;
+//			fans.emplace_back(fan_contour);
+//			cout<<"fan area: "<<length<<'\t'<<width<<endl;
+//		}
 	}
 	if(fans.size() < last_fans_cnt){
 		last_fans_cnt = static_cast<int>(fans.size());
--- a/energy/src/energy/get/aim_point_get.cpp
+++ b/energy/src/energy/get/aim_point_get.cpp
@@ -20,4 +20,10 @@ void Energy::getAimPoint(){
    double dy = target_point.y - 240;
    yaw_rotation   = atan(dx / FOCUS_PIXAL) * 180 / PI;
    pitch_rotation = atan(dy / FOCUS_PIXAL) * 180 / PI;
+    if(fabs(yaw_rotation) < 0.5 && fabs(pitch_rotation) < 0.5){
+        small_energy_shoot = true;
+        cout<<"send"<<endl;
+    }
+    else
+        small_energy_shoot = false;
 }
--- a/energy/src/energy/param_init.cpp
+++ b/energy/src/energy/param_init.cpp
@@ -44,6 +44,7 @@ void Energy::initEnergy() {
    blue_origin_pitch = 15.688477;

 	target_cnt = 0;
+    small_energy_shoot = false;
 	energy_rotation_init = false;
 	predict_rad = 20;

@@ -66,23 +67,23 @@ void Energy::initEnergy() {
 // 此函数对能量机关参数进行初始化
 // ---------------------------------------------------------------------------------------------------------------------
 void Energy::initEnergyPartParam() {
-	energy_part_param_.GRAY_THRESH = 235;
+	energy_part_param_.GRAY_THRESH = 225;
 	energy_part_param_.SPLIT_GRAY_THRESH = 60;
 	energy_part_param_.FAN_GRAY_THRESH = 75;
 	energy_part_param_.ARMOR_GRAY_THRESH = 80;

 	energy_part_param_.FAN_CONTOUR_AREA_MAX = 17000;
 	energy_part_param_.FAN_CONTOUR_AREA_MIN = 0;
-	energy_part_param_.FAN_CONTOUR_LENGTH_MIN = 90;
-    energy_part_param_.FAN_CONTOUR_LENGTH_MAX = 140;
-	energy_part_param_.FAN_CONTOUR_WIDTH_MIN = 35;
+	energy_part_param_.FAN_CONTOUR_LENGTH_MIN = 70;
+    energy_part_param_.FAN_CONTOUR_LENGTH_MAX = 100;
+	energy_part_param_.FAN_CONTOUR_WIDTH_MIN = 30;
    energy_part_param_.FAN_CONTOUR_WIDTH_MAX = 60;
 	energy_part_param_.FAN_CONTOUR_HW_RATIO_MAX = 4;
 	energy_part_param_.FAN_CONTOUR_HW_RATIO_MIN = 1;

 	energy_part_param_.ARMOR_CONTOUR_AREA_MAX = 100000;
 	energy_part_param_.ARMOR_CONTOUR_AREA_MIN = 0;
-	energy_part_param_.ARMOR_CONTOUR_LENGTH_MIN = 15;
+	energy_part_param_.ARMOR_CONTOUR_LENGTH_MIN = 13;
 	energy_part_param_.ARMOR_CONTOUR_WIDTH_MIN = 5;
 	energy_part_param_.ARMOR_CONTOUR_LENGTH_MAX = 30;
 	energy_part_param_.ARMOR_CONTOUR_WIDTH_MAX = 20;
--- a/energy/src/energy/run.cpp
+++ b/energy/src/energy/run.cpp
@@ -57,7 +57,8 @@ int Energy::runBig(cv::Mat &gimble_src, cv::Mat &chassis_src){

 //    cout<<"send"<<endl;
 //    cout<<"position mode: "<<position_mode<<endl;
-        sendTargetByUart(yaw_rotation, pitch_rotation, target_cnt);
+        if(changeTarget())target_cnt++;
+        sendBigTarget(serial, yaw_rotation, pitch_rotation, target_cnt);
        return 0;
    }
 //    if(centered)
@@ -122,7 +123,8 @@ int Energy::runBig(cv::Mat &gimble_src){
    }
    getPredictPoint();
    gimbleRotation();
-    sendTargetByUart(yaw_rotation, pitch_rotation, target_cnt);
+    if(changeTarget())target_cnt++;
+    sendBigTarget(serial, yaw_rotation, pitch_rotation, target_cnt);

 //    cout<<"yaw: "<<yaw_rotation<<'\t'<<"pitch: "<<pitch_rotation<<endl;
 //    cout<<"curr_yaw: "<<mcuData.curr_yaw<<'\t'<<"curr_pitch: "<<mcuData.curr_pitch<<endl;
@@ -149,7 +151,8 @@ int Energy::runSmall(cv::Mat &gimble_src){
    findTargetByIntersection();
    if(armors_cnt>0||fans_cnt>0) showBothContours("Both", gimble_src);
    getAimPoint();
-    sendTargetByUart(yaw_rotation, pitch_rotation, target_cnt);
+    if(changeTarget())target_cnt++;//若云台移动过程中发现有新装甲板亮起，需改变target_cnt值，以及时告知主控板中断进程，防止重复打击
+    sendSmallTarget(serial, yaw_rotation, pitch_rotation, target_cnt, small_energy_shoot);
 }


--- a/energy/src/energy/send/send.cpp
+++ b/energy/src/energy/send/send.cpp
@@ -0,0 +1,52 @@
+//
+// Created by xixiliadorabarry on 1/24/19.
+//
+#include "energy/energy.h"
+#include <iostream>
+using namespace std;
+
+
+
+//----------------------------------------------------------------------------------------------------------------------
+// 此函数用于发送小符数据
+// ---------------------------------------------------------------------------------------------------------------------
+
+void Energy::sendBigTarget(Serial& serial, float x, float y, float z) {
+    static short x_tmp, y_tmp, z_tmp;
+    uint8_t buff[8];
+    x_tmp = static_cast<short>(x * (32768 - 1) / 100);
+    y_tmp = static_cast<short>(y * (32768 - 1) / 100);
+    z_tmp  = static_cast<short>(z * (32768 - 1) / 1000);
+    buff[0] = 's';
+    buff[1] = static_cast<char>((x_tmp >> 8) & 0xFF);
+    buff[2] = static_cast<char>((x_tmp >> 0) & 0xFF);
+    buff[3] = static_cast<char>((y_tmp >> 8) & 0xFF);
+    buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF);
+    buff[5] = static_cast<char>((z_tmp >> 8) & 0xFF);
+    buff[6] = static_cast<char>((z_tmp >> 0) & 0xFF);
+    buff[7] = 'e';
+    serial.WriteData(buff, sizeof(buff));
+    send_cnt+=1;
+}
+
+
+
+//----------------------------------------------------------------------------------------------------------------------
+// 此函数用于发送大符数据
+// ---------------------------------------------------------------------------------------------------------------------
+void Energy::sendSmallTarget(Serial& serial, float x, float y, char change, char shoot){
+    static short x_tmp, y_tmp, z_tmp;
+    uint8_t buff[8];
+    x_tmp = static_cast<short>(x * (32768 - 1) / 100);
+    y_tmp = static_cast<short>(y * (32768 - 1) / 100);
+    buff[0] = 's';
+    buff[1] = static_cast<char>((x_tmp >> 8) & 0xFF);
+    buff[2] = static_cast<char>((x_tmp >> 0) & 0xFF);
+    buff[3] = static_cast<char>((y_tmp >> 8) & 0xFF);
+    buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF);
+    buff[5] = change;
+    buff[6] = shoot;
+    buff[7] = 'e';
+    serial.WriteData(buff, sizeof(buff));
+    send_cnt+=1;
+}
--- a/energy/src/energy/send_target_by_uart/send_target_by_uart.cpp
+++ b/energy/src/energy/send_target_by_uart/send_target_by_uart.cpp
@@ -1,43 +0,0 @@
-//
-// Created by xixiliadorabarry on 1/24/19.
-//
-#include "energy/energy.h"
-#include <iostream>
-using namespace std;
-
-
-
-//----------------------------------------------------------------------------------------------------------------------
-// 此函数用于向主控板发送数据
-// ---------------------------------------------------------------------------------------------------------------------
-bool sendTarget(Serial& serial, float x, float y, float z) {
-	static short x_tmp, y_tmp, z_tmp;
-	uint8_t buff[8];
-	x_tmp = static_cast<short>(x * (32768 - 1) / 100);
-	y_tmp = static_cast<short>(y * (32768 - 1) / 100);
-	z_tmp = static_cast<short>(z * (32768 - 1) / 1000);
-	buff[0] = 's';
-	buff[1] = static_cast<char>((x_tmp >> 8) & 0xFF);
-	buff[2] = static_cast<char>((x_tmp >> 0) & 0xFF);
-	buff[3] = static_cast<char>((y_tmp >> 8) & 0xFF);
-	buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF);
-	buff[5] = static_cast<char>((z_tmp >> 8) & 0xFF);
-	buff[6] = static_cast<char>((z_tmp >> 0) & 0xFF);
-	buff[7] = 'e';
-	return serial.WriteData(buff, sizeof(buff));
-}
-
-
-
-//----------------------------------------------------------------------------------------------------------------------
-// 此函数用于操作手数据发送
-// ---------------------------------------------------------------------------------------------------------------------
-void Energy::sendTargetByUart(float x, float y, float z) {
-    if(changeTarget())target_cnt++;
-    sendTarget(serial, x, y, z);
-    send_cnt+=1;
-//    cout<<"send"<<endl;
-}
-
-
-
--- a/main.cpp
+++ b/main.cpp
@@ -26,7 +26,7 @@ using namespace std;
 mcu_data mcuData = {
        0,
        0,
-        ARMOR_STATE,
+        SMALL_ENERGY_STATE,
        0,
        1,
        ENEMY_BLUE,