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energy changed

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sun
2019-07-12 12:01:06 +08:00
parent d65093216a
commit 1c295e14ac
11 changed files with 186 additions and 188 deletions
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49
main.cpp
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@@ -18,7 +18,9 @@
#include <armor_finder/armor_finder.h>
#include <options/options.h>
#include <additions/additions.h>
#define DO_NOT_CNT_TIME
#include <log.h>
using namespace cv;
@@ -93,40 +95,35 @@ int main(int argc, char *argv[]) {
cout << "start running" << endl;
do {
CNT_TIME("Total", {
if (mcuData.state == BIG_ENERGY_STATE) {//大符模式
if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大符模式，即刚往完成切换，则需要初始化
energy.setEnergyRotationInit();
((CameraWrapper*)video_gimble)->changeBrightness(20);
cout << "set" << endl;
if (mcuData.state != ARMOR_STATE) {//能量机关模式
if (last_state == ARMOR_STATE) {//若上一帧是自瞄模式，即刚往完成切换，则需要初始化
((CameraWrapper *) video_gimble)->changeBrightness(20);
}
ok = checkReconnect(video_gimble->read(gimble_src), video_chassis->read(chassis_src));//检查有几个摄像头
if (save_video) saveVideos(gimble_src, chassis_src);//保存视频
if (show_origin) showOrigin(gimble_src, chassis_src);//显示原始图像
if (mcuData.state == BIG_ENERGY_STATE) {
if (last_state != BIG_ENERGY_STATE) {
energy.setBigEnergyInit();
cout << "set" << endl;
}
energy.runBig(gimble_src, chassis_src);
} else if (mcuData.state == SMALL_ENERGY_STATE) {
if (last_state != SMALL_ENERGY_STATE) {
energy.setSmallEnergyInit();
cout << "set" << endl;
}
energy.runSmall(gimble_src, chassis_src);
}
last_state = mcuData.state;//更新上一帧状态
// resize(gimble_src,gimble_src,cv::Size(853,480));
// resize(chassis_src,chassis_src,cv::Size(853,480));
// gimble_src = gimble_src(Rect(106, 0, 640, 480));
// chassis_src = chassis_src(Rect(106, 0, 640, 480));
if (save_video) saveVideos(gimble_src, chassis_src);//保存视频
if (show_origin) showOrigin(gimble_src, chassis_src);//显示原始图像
energy.runBig(gimble_src, chassis_src);//击打大符
// energy.runBig(gimble_src);
last_state = mcuData.state;//更新上一帧状态
} else if (mcuData.state == SMALL_ENERGY_STATE) {// 小符模式
if(last_state == ARMOR_STATE){
((CameraWrapper*)video_gimble)->changeBrightness(20);
}
last_state = mcuData.state;
ok = checkReconnect(video_gimble->read(gimble_src));
// resize(gimble_src,gimble_src,cv::Size(853,480));
// gimble_src = gimble_src(Rect(106, 0, 640, 480));
if (save_video) saveVideos(gimble_src);
if (show_origin) showOrigin(gimble_src);
energy.runSmall(gimble_src);
} else { // 自瞄模式
if(last_state != ARMOR_STATE){
((CameraWrapper*)video_gimble)->changeBrightness(40);
if (last_state != ARMOR_STATE) {
((CameraWrapper *) video_gimble)->changeBrightness(40);
}
last_state = mcuData.state;
ok = checkReconnect(video_gimble->read(gimble_src));