VSAG/vision_sjtu_19
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JiatongSun
2019-05-14 19:19:07 +08:00
parent 15871a9289
commit b1c4c4f862
3 changed files with 39 additions and 29 deletions
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16
main.cpp
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@@ -26,7 +26,7 @@ using namespace cv;
using namespace std;
int state = ARMOR_STATE;
int state = ENERGY_STATE;
float curr_yaw = 0, curr_pitch = 0;
float mark_yaw = 0, mark_pitch = 0;
int mark = 0;
@@ -126,7 +126,7 @@ void uartReceive(Uart *uart) {
while ((data = uart->receive()) != '\n') {
buffer[cnt++] = data;
if (cnt >= 100) {
LOG(RECEIVE_LOG_LEVEL, "data receive over flow!");
// LOG(RECEIVE_LOG_LEVEL, "data receive over flow!");
cnt = 0;
}
}
@@ -134,28 +134,28 @@ void uartReceive(Uart *uart) {
if (cnt == 11) {
if (buffer[8] == 'e') {
state = ENERGY_STATE;
LOG(RECEIVE_LOG_LEVEL, "Energy state");
// LOG(RECEIVE_LOG_LEVEL, "Energy state");
} else if (buffer[8] == 'a') {
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!");
// LOG(RECEIVE_LOG_LEVEL, "Classifier off!");
} else if(buffer[10] == 1){
use_classifier = true;
LOG(RECEIVE_LOG_LEVEL, "Classifier on!");
// LOG(RECEIVE_LOG_LEVEL, "Classifier on!");
}
memcpy(&curr_yaw, buffer, 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);
if (buffer[9] == 1) {
if (mark == 0) {
mark = 1;
mark_yaw = curr_yaw;
mark_pitch = curr_pitch;
}
LOG(RECEIVE_LOG_LEVEL, "Marked");
// LOG(RECEIVE_LOG_LEVEL, "Marked");
}
}
cnt = 0;