VSAG/vision_sjtu_19
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修复数据接收的BUG。

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This commit is contained in:
xinyang
2019-05-02 21:25:55 +08:00
parent ee83a373d3
commit 86e04d444c
2 changed files with 11 additions and 10 deletions
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19
main.cpp
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@@ -18,9 +18,9 @@
//#define DO_NOT_CNT_TIME
#include <log.h>
#define PATH PROJECT_DIR
#define PROJECT_DIR PATH
#define ENERGY_STATE 1
#define ARMOR_STATE 0
#define ARMOR_STATE 0
using namespace cv;
using namespace std;
@@ -64,7 +64,7 @@ int main(int argc, char *argv[]){
Mat energy_src, armor_src;
ArmorFinder armorFinder(ENEMY_BLUE, uart, PATH"/tools/para/");
ArmorFinder armorFinder(ENEMY_BLUE, uart, PROJECT_DIR"/tools/para/");
Energy energy(uart);
energy.setAllyColor(ally_color);
@@ -102,6 +102,7 @@ int main(int argc, char *argv[]){
return 0;
}
#define RECEIVE_LOG_LEVEL LOG_NOTHING
void uartReceive(Uart* uart){
char buffer[100];
@@ -111,28 +112,28 @@ void uartReceive(Uart* uart){
while((data=uart->receive()) != '\n'){
buffer[cnt++] = data;
if(cnt >= 100){
// LOGE("data receive over flow!");
LOG(RECEIVE_LOG_LEVEL, "data receive over flow!");
cnt = 0;
}
}
if(cnt == 10){
if(buffer[8] == 'e'){
state = ENERGY_STATE;
// LOGM("Energy state");
LOG(RECEIVE_LOG_LEVEL, "Energy state");
}else if(buffer[8] == 'a'){
state = ARMOR_STATE;
// LOGM("Armor state");
LOG(RECEIVE_LOG_LEVEL, "Armor state");
}
memcpy(&curr_yaw, buffer, 4);
memcpy(&curr_pitch, buffer+4, 4);
// LOGM("Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
LOG(RECEIVE_LOG_LEVEL, "Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
if(buffer[9] == 1){
if(mark == 0){
mark = 1;
mark_yaw = curr_yaw;
mark_pitch = curr_pitch;
}
// LOGM("Marked");
LOG(RECEIVE_LOG_LEVEL, "Marked");
}
}
cnt = 0;