something

CMakeLists.txt

@@ -5,6 +5,7 @@ SET(CMAKE_CXX_STANDARD 11)
 SET(CMAKE_BUILD_TYPE RELEASE)
 SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3")
 SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DPATH=\"\\\"${PROJECT_SOURCE_DIR}\\\"\"")
+# Todo
 ## 使用编译期固定选项，以略微提升性能。
 #SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DFIX_OPTIONS")
 ## 固定使用相机运行

main.cpp

@@ -53,19 +53,23 @@ int main(int argc, char *argv[]) {
         WrapperHead *video_energy;
         if (from_camera) {
             video_armor = new CameraWrapper(0, "armor");
-//            video_energy = new CameraWrapper(1, "energy");
+            video_energy = new CameraWrapper(1, "energy");
         } else {
             video_armor = new VideoWrapper("/home/xinyang/Desktop/DataSets/video/blue_4.mp4");
             video_energy = new VideoWrapper("/home/xinyang/Desktop/DataSets/video/blue_4.mp4");
         }
-        if (video_armor->init()) {
+        if (video_armor->init() && video_energy->init()) {
             cout << "Video source initialization successfully." << endl;
+        } else {
+            delete video_armor;
+            delete video_energy;
+            cout << "Program fails. Restarting" << endl;
         }
 
         Mat energy_src, armor_src;
         for(int i=0; i<10; i++){
             video_armor->read(armor_src);
-//            video_energy->read(armor_src);
+            video_energy->read(armor_src);
         }
 
         ArmorFinder armorFinder(ENEMY_BLUE, uart, PROJECT_DIR"/tools/para/");
@@ -74,7 +78,7 @@ int main(int argc, char *argv[]) {
         energy.setAllyColor(ally_color);
         energy.setRotation(energy_part_rotation);
 
-        bool ok = video_armor->read(armor_src) /*&& video_energy->read(armor_src)*/;
+        bool ok = video_armor->read(armor_src) && video_energy->read(armor_src);
 
         while (ok) {
             CNT_TIME(WORD_LIGHT_CYAN, "Total", {
@@ -103,6 +107,7 @@ int main(int argc, char *argv[]) {
             });
         }
         delete video_armor;
+        delete video_energy;
         cout << "Program fails. Restarting" << endl;
     }
 

others/include/options/options.h

@@ -5,64 +5,16 @@
 #ifndef _OPTIONS_H_
 #define _OPTIONS_H_
 
-#ifdef FIX_OPTIONS
-    #ifdef SHOW_ARMOR_BOX
-        #define show_armor_box true
-    #else
-        #define show_armor_box false
-    #endif
 
-    #ifdef SHOW_ARMOR_BOXES
+extern bool show_armor_box;
-        #define show_armor_boxes true
+extern bool show_armor_boxes;
-    #else
+extern bool show_light_blobs;
-        #define show_armor_boxes false
+extern bool show_origin;
-    #endif
+extern bool save_labelled;
-
+extern bool run_with_camera;
-    #ifdef SHOW_LIGHT_BLOBS
+extern bool save_video;
-        #define show_light_blobs true
+extern bool collect_data;
-    #else
+extern bool wait_uart;
-        #define show_light_blobs false
-    #endif
-
-    #ifdef SHOW_ORIGIN
-        #define show_origin true
-    #else
-        #define show_origin false
-    #endif
-
-    #ifdef SAVE_LABELLED
-        #define save_labelled true
-    #else
-        #define save_labelled false
-    #endif
-
-    #ifdef RUN_WITH_CAMERA
-        #define run_with_camera true
-    #else
-        #define run_with_camera false
-    #endif
-
-    #ifdef SAVE_VIDEO
-        #define save_video true
-    #else
-        #define save_video false
-    #endif
-
-    #ifdef COLLECT_DATA
-        #define collect_data true
-    #else
-        #define collect_data false
-    #endif
-#else /* FIX_OPTIONS */
-    extern bool show_armor_box;
-    extern bool show_armor_boxes;
-    extern bool show_light_blobs;
-    extern bool show_origin;
-    extern bool save_labelled;
-    extern bool run_with_camera;
-    extern bool save_video;
-    extern bool collect_data;
-#endif /* FIX_OPTIONS */
 
 void process_options(int argc, char *argv[]);
 

others/src/camera/camera_wrapper.cpp

@@ -40,14 +40,13 @@ bool CameraWrapper::init() {
     for(i=0; i<camera_cnts; i++){
         camera_status = CameraInit(&camera_enum_list[i], -1, -1, &h_camera);
         if (camera_status != CAMERA_STATUS_SUCCESS) {
-            LOGE("Camera 0 initialization failed with code %d. See camera_status.h to find the code meaning.", camera_status);
+            CameraUnInit(h_camera);
-            goto stop;
+            continue;
         }
         CameraGetFriendlyName(h_camera, camera_name);
         if(name=="NULL" || strcmp(name.data(), camera_name)==0){
             break;
         }
-stop:
         CameraUnInit(h_camera);
     }
     if(i >= camera_cnts){
@@ -72,7 +71,7 @@ stop:
         CameraGetExposureTime(h_camera, &t);
         LOGM("Exposure time: %lfms", t/1000.0);
         // 模拟增益4
-        CameraSetAnalogGain(h_camera, 60);
+        CameraSetAnalogGain(h_camera, 63);
         // 使用预设LUT表
         CameraSetLutMode(h_camera, LUTMODE_PRESET);
         // 抗频闪

others/src/options/options.cpp

@@ -6,7 +6,6 @@
 #include <log.h>
 #include <cstring>
 
-#ifndef FIX_OPTIONS
 bool show_armor_box = false;
 bool show_armor_boxes = false;
 bool show_light_blobs = false;
@@ -15,6 +14,7 @@ bool save_labelled = false;
 bool run_with_camera = false;
 bool save_video = false;
 bool collect_data = false;
+bool wait_uart = false;
 
 void process_options(int argc, char *argv[]){
     if(argc >= 2){
@@ -61,12 +61,12 @@ void process_options(int argc, char *argv[]){
             }else if(strcmp(argv[i], "--collect-data") == 0){
                 collect_data = true;
                 LOGM("Enable data collection!");
+            }else if(strcmp(argv[i], "--wait-uart") == 0){
+                wait_uart = true;
+                LOGM("Wait uart until available!");
             }else{
                 LOGW("Unknown option: %s. Use --help to see options.", argv[i]);
             }
         }
     }
 }
-#else
-void process_options(int argc, char *argv[]){};
-#endif /* FIX_OPTIONS */

others/src/uart/uart.cpp

@@ -4,6 +4,7 @@
 
 #include <uart/uart.h>
 #include <energy/param_struct_define.h>
+#include <options/options.h>
 #include <log.h>
 
 using std::cout;
@@ -17,11 +18,14 @@ GMAngle_t aim;
 
 
 Uart::Uart(){
-    fd = open("/dev/ttyUSB0", O_RDWR);
+    if(wait_uart){
-    if(fd < 0)
+        while((fd = open("/dev/ttyUSB0", O_RDWR)) < 0);
-    {
+    }else{
-        cerr<<"open port error"<<endl;
+        fd = open("/dev/ttyUSB0", O_RDWR);
-        return;
+        if(fd < 0) {
+            cerr<<"open port error"<<endl;
+            return;
+        }
     }
 
     if(set_opt(fd, 115200, 8, 'N', 1) < 0 )
@@ -146,8 +150,12 @@ void Uart::sendTarget(float x, float y, float z) {
     buff[6] = static_cast<char>((z_tmp >> 0) & 0xFF);
     buff[7] = 'e';
 
-    write(fd, buff, 8);
+    int cnt=0;
-
+    while((cnt+=write(fd, buff+cnt, 8-cnt))!=-1 && cnt<8);
+    if(cnt==-1 && wait_uart){
+        LOGE("Uart send fail, the uart device may offline! Restart!");
+        exit(-1);
+    }
 }
 
 uint8_t Uart::receive() {

tools/bind-monitor.sh

@@ -1,5 +1,5 @@
 #!/bin/bash
 
 echo "#!/bin/bash" > $2/monitor-run
-echo "$1/tools/monitor.sh \"$2/run --run-with-camera\"" >> $2/monitor-run
+echo "echo \"sjturm\" | sudo -S $1/tools/monitor.sh \"$2/run --run-with-camera --show-armor-box --wait-uart\"" >> $2/monitor-run
 chmod +x $2/monitor-run