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更新通信协议。

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This commit is contained in:
xinyang
2019-05-09 20:14:25 +08:00
parent 13ffc6efe6
commit 85e1df61da
6 changed files with 21 additions and 9 deletions
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3
armor/include/armor_finder/armor_finder.h
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@@ -16,7 +16,7 @@ typedef enum{
class ArmorFinder{ class ArmorFinder{
public: public:
ArmorFinder(EnemyColor color, Uart &u, string paras_folder); ArmorFinder(EnemyColor color, Uart &u, string paras_folder, const bool &use);
~ArmorFinder() = default; ~ArmorFinder() = default;
private: private:
@@ -36,6 +36,7 @@ private:
int contour_area; int contour_area;
Uart &uart; Uart &uart;
const bool &use_classifier;
bool stateSearchingTarget(cv::Mat &src); bool stateSearchingTarget(cv::Mat &src);
bool stateTrackingTarget(cv::Mat &src); bool stateTrackingTarget(cv::Mat &src);

7
armor/src/armor_finder/armor_finder.cpp
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@@ -8,12 +8,13 @@
#include <opencv2/highgui.hpp> #include <opencv2/highgui.hpp>
#include <armor_finder/armor_finder.h> #include <armor_finder/armor_finder.h>
ArmorFinder::ArmorFinder(EnemyColor color, Uart &u, string paras_folder) : ArmorFinder::ArmorFinder(EnemyColor color, Uart &u, string paras_folder, const bool &use) :
uart(u), uart(u),
enemy_color(color), enemy_color(color),
state(STANDBY_STATE), state(STANDBY_STATE),
classifier(std::move(paras_folder)), classifier(std::move(paras_folder)),
contour_area(0) contour_area(0),
use_classifier(use)
{ {
} }
@@ -32,7 +33,7 @@ void ArmorFinder::run(cv::Mat &src) {
case SEARCHING_STATE: case SEARCHING_STATE:
if(stateSearchingTarget(src_use)){ if(stateSearchingTarget(src_use)){
if((armor_box & cv::Rect2d(0, 0, 640, 480)) == armor_box) { if((armor_box & cv::Rect2d(0, 0, 640, 480)) == armor_box) {
if(!classifier){ if(!classifier && use_classifier){
cv::Mat roi = src_use.clone()(armor_box), roi_gray; cv::Mat roi = src_use.clone()(armor_box), roi_gray;
cv::cvtColor(roi, roi_gray, CV_RGB2GRAY); cv::cvtColor(roi, roi_gray, CV_RGB2GRAY);
cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY); cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);

2
armor/src/armor_finder/state_machine/searching_state/searching_state.cpp
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@@ -194,7 +194,7 @@ bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
showArmorBoxVector("boxes", split, armor_boxes); showArmorBoxVector("boxes", split, armor_boxes);
cv::waitKey(1); cv::waitKey(1);
} }
if(classifier){ if(classifier && use_classifier){
for(auto box : armor_boxes){ for(auto box : armor_boxes){
cv::Mat roi = src(box).clone(); cv::Mat roi = src(box).clone();
cv::resize(roi, roi, cv::Size(48, 36)); cv::resize(roi, roi, cv::Size(48, 36));

14
main.cpp
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@@ -30,6 +30,7 @@ int state = ARMOR_STATE;
float curr_yaw = 0, curr_pitch = 0; float curr_yaw = 0, curr_pitch = 0;
float mark_yaw = 0, mark_pitch = 0; float mark_yaw = 0, mark_pitch = 0;
int mark = 0; int mark = 0;
bool use_classifier = false;
void uartReceive(Uart *uart); void uartReceive(Uart *uart);
@@ -68,7 +69,7 @@ int main(int argc, char *argv[]) {
// video_energy->read(armor_src); // video_energy->read(armor_src);
} }
ArmorFinder armorFinder(ENEMY_BLUE, uart, PROJECT_DIR"/tools/para/"); ArmorFinder armorFinder(ENEMY_BLUE, uart, PROJECT_DIR"/tools/para/", use_classifier);
Energy energy(uart); Energy energy(uart);
energy.setAllyColor(ally_color); energy.setAllyColor(ally_color);
@@ -114,6 +115,7 @@ int main(int argc, char *argv[]) {
void uartReceive(Uart *uart) { void uartReceive(Uart *uart) {
char buffer[100]; char buffer[100];
int cnt = 0; int cnt = 0;
LOGM("data receive start!");
while (true) { while (true) {
char data; char data;
while ((data = uart->receive()) != '\n') { while ((data = uart->receive()) != '\n') {
@@ -123,7 +125,8 @@ void uartReceive(Uart *uart) {
cnt = 0; cnt = 0;
} }
} }
if (cnt == 10) { // LOGM("%d", cnt);
if (cnt == 11) {
if (buffer[8] == 'e') { if (buffer[8] == 'e') {
state = ENERGY_STATE; state = ENERGY_STATE;
LOG(RECEIVE_LOG_LEVEL, "Energy state"); LOG(RECEIVE_LOG_LEVEL, "Energy state");
@@ -131,6 +134,13 @@ void uartReceive(Uart *uart) {
state = ARMOR_STATE; state = ARMOR_STATE;
LOG(RECEIVE_LOG_LEVEL, "Armor state"); LOG(RECEIVE_LOG_LEVEL, "Armor state");
} }
if (buffer[10] == 0){
use_classifier = false;
LOG(RECEIVE_LOG_LEVEL, "Classifier off!");
} else if(buffer[10] == 1){
use_classifier = true;
LOG(RECEIVE_LOG_LEVEL, "Classifier on!");
}
memcpy(&curr_yaw, buffer, 4); memcpy(&curr_yaw, buffer, 4);
memcpy(&curr_pitch, buffer + 4, 4); memcpy(&curr_pitch, buffer + 4, 4);
LOG(RECEIVE_LOG_LEVEL, "Get yaw:%f pitch:%f", curr_yaw, curr_pitch); LOG(RECEIVE_LOG_LEVEL, "Get yaw:%f pitch:%f", curr_yaw, curr_pitch);

2
others/src/camera/camera_wrapper.cpp
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@@ -72,7 +72,7 @@ stop:
CameraGetExposureTime(h_camera, &t); CameraGetExposureTime(h_camera, &t);
LOGM("Exposure time: %lfms", t/1000.0); LOGM("Exposure time: %lfms", t/1000.0);
// 模拟增益4 // 模拟增益4
CameraSetAnalogGain(h_camera, 60); CameraSetAnalogGain(h_camera, 63);
// 使用预设LUT表 // 使用预设LUT表
CameraSetLutMode(h_camera, LUTMODE_PRESET); CameraSetLutMode(h_camera, LUTMODE_PRESET);
// 抗频闪 // 抗频闪

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