Merge branch 'master' of https://github.com/lloi7/RM_auto-aim

armor/src/armor_finder/armor_finder.cpp

@@ -1,7 +1,7 @@
 //
 // Created by xinyang on 19-3-27.
 //
-#define LOG_LEVEL LOG_NONE
+//#define LOG_LEVEL LOG_NONE
 #include <log.h>
 #include <options/options.h>
 #include <show_images/show_images.h>
@@ -19,6 +19,7 @@ ArmorFinder::ArmorFinder(EnemyColor color, Uart &u, string paras_folder, const b
 }
 
 void ArmorFinder::run(cv::Mat &src) {
+    static int tracking_cnt = 0;
     cv::Mat src_use;
     src_use = src.clone();
     cv::cvtColor(src_use, src_gray, CV_RGB2GRAY);
@@ -42,12 +43,13 @@ void ArmorFinder::run(cv::Mat &src) {
                     tracker = TrackerToUse::create();
                     tracker->init(src_use, armor_box);
                     state = TRACKING_STATE;
+                    tracking_cnt = 0;
                     LOGM(STR_CTR(WORD_LIGHT_CYAN, "into track"));
                 }
             }
             break;
         case TRACKING_STATE:
-            if(!stateTrackingTarget(src_use)){
+            if(++tracking_cnt>100 || !stateTrackingTarget(src_use)){
                 state = SEARCHING_STATE;
                 LOGM(STR_CTR(WORD_LIGHT_YELLOW ,"into search!"));
             }

armor/src/armor_finder/state_machine/searching_state/searching_state.cpp

@@ -117,10 +117,10 @@ static bool findArmorBoxes(LightBlobs &light_blobs, std::vector<cv::Rect2d> &arm
             cv::Rect2d rect_left = light_blobs.at(static_cast<unsigned long>(i)).rect.boundingRect();
             cv::Rect2d rect_right = light_blobs.at(static_cast<unsigned long>(j)).rect.boundingRect();
             double min_x, min_y, max_x, max_y;
-            min_x = fmin(rect_left.x, rect_right.x);
+            min_x = fmin(rect_left.x, rect_right.x) - 4;
-            max_x = fmax(rect_left.x + rect_left.width, rect_right.x + rect_right.width);
+            max_x = fmax(rect_left.x + rect_left.width, rect_right.x + rect_right.width) + 4;
-            min_y = fmin(rect_left.y, rect_right.y) - 3;
+            min_y = fmin(rect_left.y, rect_right.y) - 4;
-            max_y = fmax(rect_left.y + rect_left.height, rect_right.y + rect_right.height) + 3;
+            max_y = fmax(rect_left.y + rect_left.height, rect_right.y + rect_right.height) + 4;
             if (min_x < 0 || max_x > 640 || min_y < 0 || max_y > 480) {
                 continue;
             }

main.cpp

@@ -30,14 +30,14 @@ int state = ENERGY_STATE;
 float curr_yaw = 0, curr_pitch = 0;
 float mark_yaw = 0, mark_pitch = 0;
 int mark = 0;
-bool use_classifier = false;
+bool use_classifier = true;
 
 void uartReceive(Uart *uart);
 
 int main(int argc, char *argv[]) {
     process_options(argc, argv);
     Uart uart;
-    thread receive(uartReceive, &uart);
+//    thread receive(uartReceive, &uart);
     bool flag = true;
 
     while (flag) {
@@ -53,24 +53,25 @@ int main(int argc, char *argv[]) {
         WrapperHead *video_armor;
         WrapperHead *video_energy;
         if (from_camera) {
-            video_armor = new CameraWrapper(0, "armor");
+            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() && video_energy->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;
+            continue;
         }
 
         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/", use_classifier);
@@ -79,7 +80,7 @@ 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", {

others/src/uart/uart.cpp

@@ -7,33 +7,51 @@
 #include <options/options.h>
 #include <log.h>
 
-using std::cout;
+using namespace std;
-using std::cerr;
-using std::clog;
-using std::dec;
-using std::endl;
-using std::hex;
 
 GMAngle_t aim;
 
+string get_uart_dev_name(){
+    FILE* ls = popen("ls /dev/ttyUSB* --color=never", "r");
+    char name[20] = {0};
+    fscanf(ls, "%s", name);
+    return name;
+}
 
 Uart::Uart(){
     if(wait_uart){
-        while((fd = open("/dev/ttyUSB0", O_RDWR)) < 0);
+        string name;
+        do{
+            name = get_uart_dev_name();
+            if(name == ""){
+                continue;
+            }
+        }while((fd=open(name.data(), O_RDWR)) < 0);
     }else{
-        fd = open("/dev/ttyUSB0", O_RDWR);
+        string name = get_uart_dev_name();
+        if(name == ""){
+            cerr<<"open port error"<<endl;
+            return;
+        }
+        fd = open(name.data(), O_RDWR);
         if(fd < 0) {
             cerr<<"open port error"<<endl;
             return;
         }
     }
 
+//    fd = open("/dev/ttyUSB1", O_RDWR);
+//    if(fd < 0) {
+//        cerr<<"open port error"<<endl;
+//        return;
+//    }
+
     if(set_opt(fd, 115200, 8, 'N', 1) < 0 )
     {
         cerr<<"set opt error"<<endl;
         return;
     }
-    cout<<"uart port success"<<endl;
+    cout << "uart port success" << endl;
 
     buff[0] = 's';
     buff[1] = '+';