diff --git a/armor/src/armor_finder/send_target/send_target.cpp b/armor/src/armor_finder/send_target/send_target.cpp index e2c8729..19169be 100644 --- a/armor/src/armor_finder/send_target/send_target.cpp +++ b/armor/src/armor_finder/send_target/send_target.cpp @@ -16,7 +16,7 @@ static bool sendTarget(Serial &serial, double x, double y, double z, uint16_t sh time_t t = time(nullptr); if (last_time != t) { last_time = t; - cout << "fps:" << fps << ", (" << x << "," << y << "," << z << ")" << endl; + cout << "Armor: fps:" << fps << ", (" << x << "," << y << "," << z << ")" << endl; fps = 0; } fps += 1; diff --git a/energy/include/energy/energy.h b/energy/include/energy/energy.h index 8509d32..561b433 100644 --- a/energy/include/energy/energy.h +++ b/energy/include/energy/energy.h @@ -37,7 +37,7 @@ public: void setSmallEnergyInit();//设置小能量机关初始化 void sendEnergy();//发送能量机关数据 void sendTarget(Serial& serial, float x, float y, float z);//发送数据 - void sendTarget(Serial& serial, float x, float y, float z, uint16_t u);//发送数据 + void sendTarget(Serial& serial, float x, float y, uint16_t z, uint16_t u);//发送数据 private: diff --git a/energy/src/energy/find/energy_finder.cpp b/energy/src/energy/find/energy_finder.cpp index 7f1da0d..8c96e9d 100644 --- a/energy/src/energy/find/energy_finder.cpp +++ b/energy/src/energy/find/energy_finder.cpp @@ -2,6 +2,7 @@ // Created by xixiliadorabarry on 1/24/19. // #include "energy/energy.h" +#include "log.h" using namespace cv; using std::cout; @@ -151,8 +152,8 @@ bool Energy::findCenterR(const cv::Mat src) { // cout << cur_rect.center << endl; return true; } - cout << "find center R false!" << endl; -// cv::waitKey(0); + if (show_info)cout << "find center R false!" << endl; + // cv::waitKey(0); return false; } @@ -198,7 +199,7 @@ bool Energy::findFlowStripFan(const cv::Mat src) { } // cout << "flow_strip_fans_cnt: " << flow_strip_fans.size() << endl; if (flow_strip_fans.empty()) { - cout << "flow strip fan false!" << endl; + if (show_info)cout << "flow strip fan false!" << endl; return false; } else { return true; @@ -266,11 +267,11 @@ bool Energy::findFlowStrip(const cv::Mat src) { } // cout << "flow strip cnt: " << flow_strips.size() << endl; if (flow_strips.empty()) { - cout << "flow strip false!" << endl; + if (show_info)cout << "flow strip false!" << endl; // waitKey(0); return false; } else if (flow_strips.size() > 1) { - cout << "Too many flow strips!" << endl; + if (show_info)cout << "Too many flow strips!" << endl; // waitKey(0); return false; } else { diff --git a/energy/src/energy/find/target_finder.cpp b/energy/src/energy/find/target_finder.cpp index 0703bd2..0dff96f 100644 --- a/energy/src/energy/find/target_finder.cpp +++ b/energy/src/energy/find/target_finder.cpp @@ -1,7 +1,9 @@ // // Created by xixiliadorabarry on 1/24/19. // + #include "energy/energy.h" +#include "log.h" using namespace cv; using std::cout; @@ -67,7 +69,7 @@ bool Energy::findTargetInFlowStripFan() { } // cout << "target armor cnt: " << target_armors.size() << endl; if (target_armors.empty()) { - cout << "find target armor false" << endl; + if (show_info)cout << "find target armor false" << endl; return false; } else { return true; diff --git a/energy/src/energy/get/aim_point_get.cpp b/energy/src/energy/get/aim_point_get.cpp index 9881b07..2c83150 100644 --- a/energy/src/energy/get/aim_point_get.cpp +++ b/energy/src/energy/get/aim_point_get.cpp @@ -21,5 +21,6 @@ void Energy::getAimPoint(cv::Point target_point) { pitch_rotation = atan(dy / FOCUS_PIXAL) * 180 / PI; // cout << "yaw: " << yaw_rotation << '\t' << "pitch: " << pitch_rotation << endl; // cout << "mcuData.delta_x: " << mcuData.delta_x << '\t' << "mcuData.delta_y: " << mcuData.delta_y << endl; +// cout << "manual delta: " << manual_delta_x << '\t' << manual_delta_y << endl; } diff --git a/energy/src/energy/mark/mark.cpp b/energy/src/energy/mark/mark.cpp index be09f0d..2711b92 100644 --- a/energy/src/energy/mark/mark.cpp +++ b/energy/src/energy/mark/mark.cpp @@ -12,7 +12,7 @@ using namespace cv; // 此函数用于记录操作手的微调dx和dy // --------------------------------------------------------------------------------------------------------------------- void Energy::writeDownSlightChange(cv::Mat &src) { - if (findFans(src) == 4){ + if (findFans(src) >= 4) { FILE *fp_delta = fopen(PROJECT_DIR"/Mark/delta.txt", "w"); if (fp_delta) { fprintf(fp_delta, "delta_x: %d, delta_y: %d\n", mcuData.delta_x, mcuData.delta_y); diff --git a/energy/src/energy/send/send.cpp b/energy/src/energy/send/send.cpp index 9d2a609..9102eb8 100644 --- a/energy/src/energy/send/send.cpp +++ b/energy/src/energy/send/send.cpp @@ -28,11 +28,11 @@ void Energy::sendEnergy() { } if (change_target) { - sendTarget(serial, yaw_rotation, pitch_rotation, 5); + sendTarget(serial, yaw_rotation, pitch_rotation, 5, 0); } else if (is_guessing) { - sendTarget(serial, yaw_rotation, pitch_rotation, 6); + sendTarget(serial, yaw_rotation, pitch_rotation, 6, 0); } else { - sendTarget(serial, yaw_rotation, pitch_rotation, shoot); + sendTarget(serial, yaw_rotation, pitch_rotation, shoot, 0); } } @@ -51,7 +51,7 @@ void Energy::sendTarget(Serial &serial, float x, float y, float z) { time_t t = time(nullptr); if (last_time != t) { last_time = t; -// cout << "fps:" << fps << ", (" << x << "," << y << "," << z << ")" << endl; + cout << "Energy: fps:" << fps << ", (" << x << "," << y << "," << z << ")" << endl; fps = 0; } fps += 1; @@ -77,7 +77,7 @@ void Energy::sendTarget(Serial &serial, float x, float y, float z) { //---------------------------------------------------------------------------------------------------------------------- // 此函数用于发送数据给主控板 // --------------------------------------------------------------------------------------------------------------------- -void Energy::sendTarget(Serial &serial, float x, float y, float z, uint16_t u) { +void Energy::sendTarget(Serial &serial, float x, float y, uint16_t z, uint16_t u) { short x_tmp, y_tmp, z_tmp; uint8_t buff[10]; @@ -87,7 +87,7 @@ void Energy::sendTarget(Serial &serial, float x, float y, float z, uint16_t u) { time_t t = time(nullptr); if (last_time != t) { last_time = t; - cout << "fps:" << fps << ", (" << x << "," << y << "," << z << ")" << endl; + cout << "Energy: fps:" << fps << ", (" << x << "," << y << "," << z << "," << u << ")" << endl; fps = 0; } fps += 1; @@ -95,14 +95,13 @@ void Energy::sendTarget(Serial &serial, float x, float y, float z, uint16_t u) { x_tmp = static_cast(x * (32768 - 1) / 100); y_tmp = static_cast(y * (32768 - 1) / 100); - z_tmp = static_cast(z * (32768 - 1) / 100); buff[0] = 's'; buff[1] = static_cast((x_tmp >> 8) & 0xFF); buff[2] = static_cast((x_tmp >> 0) & 0xFF); buff[3] = static_cast((y_tmp >> 8) & 0xFF); buff[4] = static_cast((y_tmp >> 0) & 0xFF); - buff[5] = static_cast((z_tmp >> 8) & 0xFF); - buff[6] = static_cast((z_tmp >> 0) & 0xFF); + buff[5] = static_cast((z >> 8) & 0xFF); + buff[6] = static_cast((z >> 0) & 0xFF); buff[7] = static_cast((u >> 8) & 0xFF); buff[8] = static_cast((u >> 0) & 0xFF);; buff[9] = 'e'; diff --git a/main.cpp b/main.cpp index 16628bd..a10e8ec 100644 --- a/main.cpp +++ b/main.cpp @@ -30,7 +30,7 @@ using namespace std; mcu_data mcuData = { // 单片机端回传结构体 0, // 当前云台yaw角 0, // 当前云台pitch角 - BIG_ENERGY_STATE, // 当前状态，自瞄-大符-小符 + ARMOR_STATE, // 当前状态，自瞄-大符-小符 0, // 云台角度标记位 1, // 是否启用数字识别 ENEMY_RED, // 敌方颜色 @@ -96,8 +96,9 @@ int main(int argc, char *argv[]) { // CNT_TIME("Total", { if (mcuData.state == BIG_ENERGY_STATE) {//大能量机关模式 if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化 + LOGM(STR_CTR(WORD_BLUE, "Start Big Energy!")); destroyAllWindows(); - if(from_camera){ + if (from_camera) { delete video_gimbal; video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "armor"*/); if (video_gimbal->init()) { @@ -109,6 +110,7 @@ int main(int argc, char *argv[]) { checkReconnect(video_chassis->read(chassis_src)); energy.setBigEnergyInit(); } + last_state = mcuData.state;//更新上一帧状态 ok = checkReconnect(video_gimbal->read(gimbal_src)); video_chassis->read(chassis_src); #ifdef GIMBAL_FLIP_MODE @@ -120,13 +122,13 @@ int main(int argc, char *argv[]) { if (!from_camera) extract(gimbal_src, chassis_src); if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频 if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像 -// energy.runBig(gimbal_src, chassis_src); - energy.runBig(gimbal_src); - last_state = mcuData.state;//更新上一帧状态 + energy.runBig(gimbal_src, chassis_src); +// energy.runBig(gimbal_src); } else if (mcuData.state == SMALL_ENERGY_STATE) { - if (mcuData.state != SMALL_ENERGY_STATE) { + if (last_state != SMALL_ENERGY_STATE) { + LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!")); destroyAllWindows(); - if(from_camera){ + if (from_camera) { delete video_gimbal; video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "armor"*/); if (video_gimbal->init()) { @@ -137,6 +139,7 @@ int main(int argc, char *argv[]) { } energy.setSmallEnergyInit(); } + last_state = mcuData.state;//更新上一帧状态 ok = checkReconnect(video_gimbal->read(gimbal_src)); #ifdef GIMBAL_FLIP_MODE flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE); @@ -145,11 +148,11 @@ int main(int argc, char *argv[]) { if (save_video) saveVideos(gimbal_src);//保存视频 if (show_origin) showOrigin(gimbal_src);//显示原始图像 energy.runSmall(gimbal_src); - last_state = mcuData.state;//更新上一帧状态 } else { // 自瞄模式 if (last_state != ARMOR_STATE) { + LOGM(STR_CTR(WORD_RED, "Start Armor!")); destroyAllWindows(); - if(from_camera){ + if (from_camera) { delete video_gimbal; video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 0/*, "armor"*/); if (video_gimbal->init()) { diff --git a/others/include/config/setconfig.h b/others/include/config/setconfig.h index 5029e36..7399504 100644 --- a/others/include/config/setconfig.h +++ b/others/include/config/setconfig.h @@ -29,7 +29,7 @@ #define ARMOR_CAMERA_GAIN (30) #endif #ifndef ENERGY_CAMERA_GAIN - #define ENERGY_CAMERA_GAIN (20) + #define ENERGY_CAMERA_GAIN (30) #endif #ifndef AIM_KP #define AIM_KP (6) diff --git a/others/include/options/options.h b/others/include/options/options.h index ed49689..716ae5b 100644 --- a/others/include/options/options.h +++ b/others/include/options/options.h @@ -18,6 +18,7 @@ extern bool save_labelled_boxes; extern bool show_process; extern bool show_energy; extern bool save_mark; +extern bool show_info; void process_options(int argc, char *argv[]); diff --git a/others/libMVSDK.so b/others/libMVSDK.so index 943fc13..4cb7ffd 100644 Binary files a/others/libMVSDK.so and b/others/libMVSDK.so differ diff --git a/others/src/options/options.cpp b/others/src/options/options.cpp index 0b7c7a5..6dcaf4c 100644 --- a/others/src/options/options.cpp +++ b/others/src/options/options.cpp @@ -17,6 +17,7 @@ bool save_labelled_boxes = false; bool show_process = false; bool show_energy = false; bool save_mark = false; +bool show_info = false; void process_options(int argc, char *argv[]) { if (argc >= 2) { @@ -54,6 +55,8 @@ void process_options(int argc, char *argv[]) { LOGM("Enable show processed image"); show_energy = true; LOGM("Enable show energy part"); + show_info = true; + LOGM("Show information!"); } else if (strcmp(argv[i], "--run-with-camera") == 0) { run_with_camera = true; LOGM("Run with camera!"); @@ -70,14 +73,18 @@ void process_options(int argc, char *argv[]) { show_process = true; LOGM("Enable show processed image!"); } else if (strcmp(argv[i], "--show-energy") == 0) { - show_energy= true; + show_energy = true; LOGM("Enable show energy part!"); } else if (strcmp(argv[i], "--save-mark") == 0) { save_mark = true; LOGM("Write down mark"); + } else if (strcmp(argv[i], "--show-info") == 0) { + show_info = true; + LOGM("Show information!"); } else { LOGW("Unknown option: %s. Use --help to see options.", argv[i]); } } } } +