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统一跨平台时间函数接口。

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This commit is contained in:
xinyang
2019-07-31 14:51:01 +08:00
parent 01882b97c6
commit 98bc5ef95b
23 changed files with 87 additions and 95 deletions
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10
armor/include/armor_finder/armor_finder.h
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@@ -6,13 +6,13 @@
#define _ARMOR_FINDER_H_
#include <map>
#include <sys/time.h>
#include <systime.h>
#include <constants.h>
#include <opencv2/core.hpp>
#include <opencv2/tracking.hpp>
#include <serial/serial.h>
#include <serial.h>
#include <armor_finder/classifier/classifier.h>
#include <additions/additions.h>
#include <additions.h>
#define BLOB_RED ENEMY_RED
#define BLOB_BLUE ENEMY_BLUE
@@ -111,7 +111,7 @@ private:
INCREASE, DECREASE, NOCHANGE
} BoxRatioChangeType;
timeval frame_time; // 当前帧对应时间;
systime frame_time; // 当前帧对应时间;
const uint8_t &enemy_color; // 敌方颜色，引用外部变量，自动变化
State state; // 自瞄状态对象实例
ArmorBox armor_box; // 当前目标装甲板
@@ -123,7 +123,7 @@ private:
const uint8_t &use_classifier; // 标记是否启用CNN分类器，引用外部变量，自动变化
RoundQueue<double, 4> top_periodms;
RoundQueue<double, 5> box_ratioes;
timeval last_front_time; // 上一次发生装甲板方向切换的时间
systime last_front_time; // 上一次发生装甲板方向切换的时间
BoxRatioChangeType last_ratio_type;
int anti_top_cnt; // 满足条件的装甲板方向切换持续次数，用于反陀螺
AntiTopState anti_top_state; // 当前是否识别到陀螺

6
armor/src/armor_finder/anti_top/anti_top.cpp
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@@ -3,7 +3,7 @@
//
#include <armor_finder/armor_finder.h>
#include <additions/additions.h>
#include <additions.h>
#include <log.h>
static double boxDistance(const cv::Rect2d &a, const cv::Rect2d &b) {
@@ -53,8 +53,8 @@ void ArmorFinder::antiTop() {
if (anti_top_state == ANTI_TOP) {
top_periodms.push(interval);
LOGM(STR_CTR(WORD_LIGHT_GREEN, "top period: %.1lf ms"), interval);
timeval curr_time;
gettimeofday(&curr_time, nullptr);
systime curr_time;
getsystime(curr_time);
auto calculate_time = getTimeIntervalms(curr_time, frame_time);
shoot_delay = mean(top_periodms) - calculate_time;
} else if (anti_top_state == NORMAL) {

5
armor/src/armor_finder/armor_finder.cpp
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@@ -17,11 +17,10 @@
#define LOG_LEVEL LOG_NONE
#include <log.h>
#include <options/options.h>
#include <options.h>
#include <show_images/show_images.h>
#include <opencv2/highgui.hpp>
#include <armor_finder/armor_finder.h>
#include <sys/time.h>
std::map<int, string> id2name = { //装甲板id到名称的map
{-1, "OO"},{ 0, "NO"},
@@ -58,7 +57,7 @@ ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder,
}
void ArmorFinder::run(cv::Mat &src) {
gettimeofday(&frame_time, nullptr);
getsystime(frame_time);
// stateSearchingTarget(src); // for debug
// goto end;
switch (state) {

2
armor/src/armor_finder/find/find_armor_box.cpp
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@@ -4,7 +4,7 @@
#include <armor_finder/armor_finder.h>
#include <show_images/show_images.h>
#include <options/options.h>
#include <options.h>
#include <opencv2/highgui.hpp>
#define DO_NOT_CNT_TIME
#include <log.h>

2
armor/src/armor_finder/find/find_light_blobs.cpp
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@@ -3,7 +3,7 @@
//
#include <armor_finder/armor_finder.h>
#include <options/options.h>
#include <options.h>
#include <opencv2/highgui.hpp>
static double lw_rate(const cv::RotatedRect &rect) {

2
armor/src/armor_finder/searching_state/searching_state.cpp
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@@ -4,7 +4,7 @@
#include <armor_finder/armor_finder.h>
#include <show_images/show_images.h>
#include <options/options.h>
#include <options.h>
#include <log.h>
bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {

2
armor/src/armor_finder/tracking_state/tracking_state.cpp
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@@ -2,7 +2,7 @@
// Created by xinyang on 19-3-27.
//
#include <log.h>
#include <options/options.h>
#include <options.h>
#include <armor_finder/armor_finder.h>
#include <show_images/show_images.h>

2
armor/src/show_images/show_images.cpp
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@@ -1,6 +1,6 @@
#include <show_images/show_images.h>
#include <opencv2/highgui.hpp>
#include <options/options.h>
#include <options.h>
#include <log.h>
using namespace cv;