VSAG/vision_sjtu_19
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Merge branch 'master' into win32

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This commit is contained in:
xinyang
2019-05-15 16:47:45 +08:00
committed by GitHub
parent 0d6aae81b8 f9eab62680
commit c2d2fd9c8a
12 changed files with 253 additions and 77 deletions
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27
main.cpp
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@@ -37,7 +37,7 @@ void uartReceive(Serial *uart);
int main(int argc, char *argv[]) {
process_options(argc, argv);
Serial uart(3, 115200);
Serial uart(115200);
thread receive(uartReceive, &uart);
bool flag = true;
@@ -118,12 +118,11 @@ int main(int argc, char *argv[]) {
return 0;
}
#define RECEIVE_LOG_LEVEL LOG_MSG
#define RECEIVE_LOG_LEVEL LOG_NOTHING
char uartReadByte(Serial &uart) {
while (uart.GetBytesInCOM() == 0);
char byte;
if (uart.ReadData((uint8_t*)& byte, 1) == false) {
if (uart.ReadData((uint8_t*)&byte, 1) == false) {
LOGE("serial error!");
}
return byte;
@@ -138,45 +137,45 @@ void uartReceive(Serial* uart) {
while ((data = uartReadByte(*uart)) != '\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;
}
}
//LOGM("%d", cnt);
LOGM("%d", cnt);
if (cnt == 12) {
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!");
}
if (buffer[11] == ENEMY_BLUE) {
//LOG(RECEIVE_LOG_LEVEL, "ENEMY_BLUE!");
LOG(RECEIVE_LOG_LEVEL, "ENEMY_BLUE!");
ally_color = ALLY_RED;
enemy_color = ENEMY_BLUE;
} else if (buffer[11] == ENEMY_RED) {
//LOG(RECEIVE_LOG_LEVEL, "ENEMY_RED!");
LOG(RECEIVE_LOG_LEVEL, "ENEMY_RED!");
ally_color = ALLY_BLUE;
enemy_color = ENEMY_RED;
}
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;