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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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21
CMakeLists.txt
View File

@@ -5,6 +5,8 @@ SET(CMAKE_CXX_STANDARD 11)
SET(CMAKE_BUILD_TYPE RELEASE) SET(CMAKE_BUILD_TYPE RELEASE)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3") SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3")
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DPATH=\"\\\"${PROJECT_SOURCE_DIR}\\\"\"") SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DPATH=\"\\\"${PROJECT_SOURCE_DIR}\\\"\"")
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -D${CMAKE_SYSTEM_NAME}")
MESSAGE("${CMAKE_CXX_FLAGS}")
# Todo # Todo
## 使用编译期固定选项，以略微提升性能。 ## 使用编译期固定选项，以略微提升性能。
#SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DFIX_OPTIONS") #SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DFIX_OPTIONS")
@@ -20,17 +22,28 @@ IF(CCACHE_FOUND)
MESSAGE("< Use ccache for compiler >") MESSAGE("< Use ccache for compiler >")
ENDIF() ENDIF()
FILE(GLOB_RECURSE sourcefiles "others/src/*.cpp" "energy/src/*cpp" "armor/src/*.cpp")
ADD_EXECUTABLE(${BIN_NAME} main.cpp ${sourcefiles} )
IF (CMAKE_SYSTEM_NAME MATCHES "Linux")
MESSAGE(STATUS "current platform: Linux ")
FIND_PACKAGE(Eigen3 REQUIRED)
INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})
TARGET_LINK_LIBRARIES(${BIN_NAME} "${PROJECT_SOURCE_DIR}/others/libMVSDK.so")
ELSEIF (CMAKE_SYSTEM_NAME MATCHES "Windows")
MESSAGE(STATUS "current platform: Windows")
INCLUDE_DIRECTORIES("C:/Applications/eigen3")
TARGET_LINK_LIBRARIES(${BIN_NAME} "${PROJECT_SOURCE_DIR}/others/MVCAMSDK_X64.lib")
ELSE ()
MESSAGE(STATUS "Unsupport platform: ${CMAKE_SYSTEM_NAME}")
ENDIF()
FIND_PACKAGE(OpenCV 3 REQUIRED) FIND_PACKAGE(OpenCV 3 REQUIRED)
FIND_PACKAGE(Threads) FIND_PACKAGE(Threads)
INCLUDE_DIRECTORIES("C:\\Applications\\eigen3")
INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/energy/include) INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/energy/include)
INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/armor/include) INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/armor/include)
INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/others/include) INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/others/include)
FILE(GLOB_RECURSE sourcefiles "others/src/*.cpp" "energy/src/*cpp" "armor/src/*.cpp")
ADD_EXECUTABLE(${BIN_NAME} main.cpp ${sourcefiles} )
TARGET_LINK_LIBRARIES(${BIN_NAME} ${CMAKE_THREAD_LIBS_INIT}) TARGET_LINK_LIBRARIES(${BIN_NAME} ${CMAKE_THREAD_LIBS_INIT})
TARGET_LINK_LIBRARIES(${BIN_NAME} ${OpenCV_LIBS}) TARGET_LINK_LIBRARIES(${BIN_NAME} ${OpenCV_LIBS})
TARGET_LINK_LIBRARIES(${BIN_NAME} "C:/Program\ Files\ (x86)/MindVision/SDK/X64/MVCAMSDK_X64.lib")

5
armor/src/armor_finder/armor_finder.cpp
View File

@@ -68,11 +68,6 @@ bool sendTarget(Serial& serial, double x, double y, double z) {
static int fps; static int fps;
uint8_t buff[8]; uint8_t buff[8];
static SYSTEMTIME ts, te;
GetLocalTime(&te);
printf("Interval: %d\n", (te.wSecond - ts.wSecond) * 1000 + (te.wMilliseconds - ts.wMilliseconds));
ts = te;
time_t t = time(nullptr); time_t t = time(nullptr);
if (last_time != t) { if (last_time != t) {
last_time = t; last_time = t;

27
main.cpp
View File

@@ -37,7 +37,7 @@ void uartReceive(Serial *uart);
int main(int argc, char *argv[]) { int main(int argc, char *argv[]) {
process_options(argc, argv); process_options(argc, argv);
Serial uart(3, 115200); Serial uart(115200);
thread receive(uartReceive, &uart); thread receive(uartReceive, &uart);
bool flag = true; bool flag = true;
@@ -118,12 +118,11 @@ int main(int argc, char *argv[]) {
return 0; return 0;
} }
#define RECEIVE_LOG_LEVEL LOG_MSG #define RECEIVE_LOG_LEVEL LOG_NOTHING
char uartReadByte(Serial &uart) { char uartReadByte(Serial &uart) {
while (uart.GetBytesInCOM() == 0);
char byte; char byte;
if (uart.ReadData((uint8_t*)& byte, 1) == false) { if (uart.ReadData((uint8_t*)&byte, 1) == false) {
LOGE("serial error!"); LOGE("serial error!");
} }
return byte; return byte;
@@ -138,45 +137,45 @@ void uartReceive(Serial* uart) {
while ((data = uartReadByte(*uart)) != '\n') { while ((data = uartReadByte(*uart)) != '\n') {
buffer[cnt++] = data; buffer[cnt++] = data;
if (cnt >= 100) { if (cnt >= 100) {
//LOG(RECEIVE_LOG_LEVEL, "data receive over flow!"); LOG(RECEIVE_LOG_LEVEL, "data receive over flow!");
cnt = 0; cnt = 0;
} }
} }
//LOGM("%d", cnt); LOGM("%d", cnt);
if (cnt == 12) { if (cnt == 12) {
if (buffer[8] == 'e') { if (buffer[8] == 'e') {
state = ENERGY_STATE; state = ENERGY_STATE;
//LOG(RECEIVE_LOG_LEVEL, "Energy state"); LOG(RECEIVE_LOG_LEVEL, "Energy state");
} else if (buffer[8] == 'a') { } else if (buffer[8] == 'a') {
state = ARMOR_STATE; state = ARMOR_STATE;
//LOG(RECEIVE_LOG_LEVEL, "Armor state"); LOG(RECEIVE_LOG_LEVEL, "Armor state");
} }
if (buffer[10] == 0){ if (buffer[10] == 0){
use_classifier = false; use_classifier = false;
//LOG(RECEIVE_LOG_LEVEL, "Classifier off!"); LOG(RECEIVE_LOG_LEVEL, "Classifier off!");
} else if(buffer[10] == 1){ } else if(buffer[10] == 1){
use_classifier = true; use_classifier = true;
//LOG(RECEIVE_LOG_LEVEL, "Classifier on!"); LOG(RECEIVE_LOG_LEVEL, "Classifier on!");
} }
if (buffer[11] == ENEMY_BLUE) { if (buffer[11] == ENEMY_BLUE) {
//LOG(RECEIVE_LOG_LEVEL, "ENEMY_BLUE!"); LOG(RECEIVE_LOG_LEVEL, "ENEMY_BLUE!");
ally_color = ALLY_RED; ally_color = ALLY_RED;
enemy_color = ENEMY_BLUE; enemy_color = ENEMY_BLUE;
} else if (buffer[11] == ENEMY_RED) { } else if (buffer[11] == ENEMY_RED) {
//LOG(RECEIVE_LOG_LEVEL, "ENEMY_RED!"); LOG(RECEIVE_LOG_LEVEL, "ENEMY_RED!");
ally_color = ALLY_BLUE; ally_color = ALLY_BLUE;
enemy_color = ENEMY_RED; enemy_color = ENEMY_RED;
} }
memcpy(&curr_yaw, buffer, 4); memcpy(&curr_yaw, buffer, 4);
memcpy(&curr_pitch, buffer + 4, 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 (buffer[9] == 1) {
if (mark == 0) { if (mark == 0) {
mark = 1; mark = 1;
mark_yaw = curr_yaw; mark_yaw = curr_yaw;
mark_pitch = curr_pitch; mark_pitch = curr_pitch;
} }
//LOG(RECEIVE_LOG_LEVEL, "Marked"); LOG(RECEIVE_LOG_LEVEL, "Marked");
} }
} }
cnt = 0; cnt = 0;

1
others/include/camera/camera_define.h
View File

@@ -31,6 +31,7 @@ typedef unsigned char UCHAR;
#define HMODULE void* #define HMODULE void*
#define TRUE 1 #define TRUE 1
#define FALSE 0 #define FALSE 0
//图像查表变换的方式 //图像查表变换的方式

6
others/include/camera/camera_wrapper.h
View File

@@ -14,7 +14,11 @@
#include <opencv2/imgproc/imgproc.hpp> #include <opencv2/imgproc/imgproc.hpp>
#include "camera/wrapper_head.h" #include "camera/wrapper_head.h"
#include "camera/CameraApi.h" #ifdef Windows
#include "camera/CameraApi.h"
#elif defined(Linux)
#include "camera/camera_api.h"
#endif
class CameraWrapper: public WrapperHead { class CameraWrapper: public WrapperHead {
private: private:

4
others/include/log.h
View File

@@ -124,8 +124,8 @@
__FILE__, __LINE__, ##__VA_ARGS__) __FILE__, __LINE__, ##__VA_ARGS__)
/******************** the time counter API ************************/ /******************** the time counter API ************************/
#ifndef DO_NOT_CNT_TIME && LOG_LEVEL > LOG_NONE #if !defined(DO_NOT_CNT_TIME) && LOG_LEVEL > LOG_NONE
#ifdef WIN32 #ifdef Windows
#include <Windows.h> #include <Windows.h>
#define CNT_TIME(tag, codes, ...) do{ \ #define CNT_TIME(tag, codes, ...) do{ \
static SYSTEMTIME ts, te; \ static SYSTEMTIME ts, te; \

2
others/include/options/additions.h
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@@ -5,7 +5,7 @@
#ifndef _ADDITIONS_H_ #ifndef _ADDITIONS_H_
#define _ADDITIONS_H_ #define _ADDITIONS_H_
#include <uart/uart.h> #include <serial/serial.h>
#include <opencv2/core.hpp> #include <opencv2/core.hpp>
#include <thread> #include <thread>

33
others/include/serial/serial.h
View File

@@ -1,12 +1,14 @@
#ifndef _SERIAL_H_ #ifndef _SERIAL_H_
#define _SERIAL_H_ #define _SERIAL_H_
#ifdef Windows
#include <Windows.h> #include <Windows.h>
class Serial class Serial
{ {
public: public:
Serial(UINT portNo = 1, UINT baud = CBR_9600, char parity = 'N', UINT databits = 8, UINT stopsbits = 1, DWORD dwCommEvents = EV_RXCHAR); Serial(UINT baud = CBR_115200, char parity = 'N', UINT databits = 8, UINT stopsbits = 1, DWORD dwCommEvents = EV_RXCHAR);
~Serial(); ~Serial();
bool InitPort(UINT portNo = 1, UINT baud = CBR_9600, char parity = 'N', UINT databits = 8, UINT stopsbits = 1, DWORD dwCommEvents = EV_RXCHAR); bool InitPort(UINT portNo = 1, UINT baud = CBR_9600, char parity = 'N', UINT databits = 8, UINT stopsbits = 1, DWORD dwCommEvents = EV_RXCHAR);
@@ -27,4 +29,33 @@ private:
DWORD dwCommEvents; DWORD dwCommEvents;
}; };
#elif defined(Linux)
#include <errno.h>
#include <fcntl.h>
#include <termios.h>
#include <unistd.h>
class Serial {
private:
int fd;
int nSpeed;
char nEvent;
int nBits;
int nStop;
int set_opt(int fd, int nSpeed, char nEvent, int nBits, int nStop);
public:
Serial(int nSpeed = 115200, char nEvent = 'N', int nBits = 8, int nStop = 1);
~Serial();
bool InitPort(int nSpeed = 115200, char nEvent = 'N', int nBits = 8, int nStop = 1);
// int GetBytesInCOM() const ;
bool WriteData(const unsigned char* pData, unsigned int length);
bool ReadData(unsigned char* buffer, unsigned int length);
};
#endif
#endif /* _SERIAL_H_ */ #endif /* _SERIAL_H_ */

24
others/src/camera/camera_wrapper.cpp
View File

@@ -62,7 +62,7 @@ bool CameraWrapper::init() {
rgb_buffer = (unsigned char *)malloc(tCapability.sResolutionRange.iHeightMax * rgb_buffer = (unsigned char *)malloc(tCapability.sResolutionRange.iHeightMax *
tCapability.sResolutionRange.iWidthMax * 3); tCapability.sResolutionRange.iWidthMax * 3);
char filepath[200]; char filepath[200];
sprintf_s(filepath, PROJECT_DIR"/others/%s.Config", name.data()); sprintf(filepath, PROJECT_DIR"/others/%s.Config", name.data());
if (CameraReadParameterFromFile(h_camera, filepath) != CAMERA_STATUS_SUCCESS) { if (CameraReadParameterFromFile(h_camera, filepath) != CAMERA_STATUS_SUCCESS) {
LOGE("Load parameter %s from file fail!", filepath); LOGE("Load parameter %s from file fail!", filepath);
return false; return false;
@@ -75,28 +75,6 @@ bool CameraWrapper::init() {
double t; double t;
CameraGetExposureTime(h_camera, &t); CameraGetExposureTime(h_camera, &t);
LOGM("Exposure time: %lfms", t / 1000.0); LOGM("Exposure time: %lfms", t / 1000.0);
/* if(mode == 0){
// 不使用自动曝光
CameraSetAeState(h_camera, false);
// 曝光时间10ms
CameraSetExposureTime(h_camera, 10000);
double t;
CameraGetExposureTime(h_camera, &t);
LOGM("Exposure time: %lfms", t/1000.0);
// 模拟增益4
CameraSetAnalogGain(h_camera, 64);
// 使用预设LUT表
CameraSetLutMode(h_camera, LUTMODE_PRESET);
// 抗频闪
// CameraSetAntiFlick(h_camera, true);
}
else if(mode == 1){
// 不使用自动曝光
CameraSetAeState(h_camera, false);
// 抗频闪
// CameraSetAntiFlick(h_camera, true);
}
*/
/*让SDK进入工作模式，开始接收来自相机发送的图像 /*让SDK进入工作模式，开始接收来自相机发送的图像
数据。如果当前相机是触发模式，则需要接收到 数据。如果当前相机是触发模式，则需要接收到
触发帧以后才会更新图像。 */ 触发帧以后才会更新图像。 */

201
others/src/serial/serial.cpp
View File

@@ -4,9 +4,11 @@
using namespace std; using namespace std;
#include <iostream> #include <iostream>
Serial::Serial(UINT portNo, UINT baud, char parity, UINT databits, UINT stopsbits, DWORD dwCommEvents) : #ifdef Windows
Serial::Serial(UINT baud, char parity, UINT databits, UINT stopsbits, DWORD dwCommEvents) :
hComm(INVALID_HANDLE_VALUE), hComm(INVALID_HANDLE_VALUE),
portNo(portNo), portNo(3),
parity(parity), parity(parity),
databits(databits), databits(databits),
stopsbits(stopsbits), stopsbits(stopsbits),
@@ -40,12 +42,12 @@ bool Serial::openPort(UINT portNo) {
char szPort[50]; char szPort[50];
sprintf_s(szPort, "COM%d", portNo); sprintf_s(szPort, "COM%d", portNo);
/** <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD> */ /** 打开指定的串口 */
hComm = CreateFileA(szPort, /** <EFBFBD>豸<EFBFBD><EFBFBD>,COM1,COM2<EFBFBD><EFBFBD> */ hComm = CreateFileA(szPort, /** 设备名,COM1,COM2等 */
GENERIC_READ | GENERIC_WRITE, /** <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ,<2C><>ͬʱ<CDAC><CAB1>д */ GENERIC_READ | GENERIC_WRITE, /** 访问模式,可同时读写 */
0, /** <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ,0<><30>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */ 0, /** 共享模式,0表示不共享 */
NULL, /** <EFBFBD><EFBFBD>ȫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,һ<><D2BB>ʹ<EFBFBD><CAB9>NULL */ NULL, /** 安全性设置,一般使用NULL */
OPEN_EXISTING, /** <EFBFBD>ò<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD>豸<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD>򴴽<EFBFBD>ʧ<EFBFBD><CAA7> */ OPEN_EXISTING, /** 该参数表示设备必须存在,否则创建失败 */
0, 0,
0); 0);
@@ -53,7 +55,7 @@ bool Serial::openPort(UINT portNo) {
} }
void Serial::ClosePort() { void Serial::ClosePort() {
/** <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD><EFBFBD>ڱ<EFBFBD><EFBFBD>򿪣<EFBFBD><EFBFBD>ر<EFBFBD><EFBFBD><EFBFBD> */ /** 如果有串口被打开，关闭它 */
if (hComm != INVALID_HANDLE_VALUE) { if (hComm != INVALID_HANDLE_VALUE) {
CloseHandle(hComm); CloseHandle(hComm);
hComm = INVALID_HANDLE_VALUE; hComm = INVALID_HANDLE_VALUE;
@@ -61,7 +63,7 @@ void Serial::ClosePort() {
} }
bool Serial::InitPort(UINT portNo, UINT baud, char parity, UINT databits, UINT stopsbits, DWORD dwCommEvents) { bool Serial::InitPort(UINT portNo, UINT baud, char parity, UINT databits, UINT stopsbits, DWORD dwCommEvents) {
/** <EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD>ƶ<EFBFBD><C6B6><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD>ַ<EFBFBD><D6B7><EFBFBD><EFBFBD><EFBFBD>ʽ,<2C>Թ<EFBFBD><D4B9><EFBFBD>DCB<EFBFBD>ṹ */ /** 临时变量,将制定参数转化为字符串形式,以构造DCB结构 */
char szDCBparam[50]; char szDCBparam[50];
sprintf_s(szDCBparam, "baud=%d parity=%c data=%d stop=%d", baud, parity, databits, stopsbits); sprintf_s(szDCBparam, "baud=%d parity=%c data=%d stop=%d", baud, parity, databits, stopsbits);
@@ -85,40 +87,40 @@ bool Serial::InitPort(UINT portNo, UINT baud, char parity, UINT databits, UINT
DCB dcb; DCB dcb;
if (bIsSuccess) { if (bIsSuccess) {
/** <EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ò<EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD>ҹ<EFBFBD><D2B9>촮<EFBFBD><ECB4AE>DCB<43><42><EFBFBD><EFBFBD> */ /** 获取当前串口配置参数,并且构造串口DCB参数 */
bIsSuccess = GetCommState(hComm, &dcb); bIsSuccess = GetCommState(hComm, &dcb);
bIsSuccess = BuildCommDCB(szDCBparam, &dcb); bIsSuccess = BuildCommDCB(szDCBparam, &dcb);
if (!bIsSuccess) { if (!bIsSuccess) {
cout << "Create dcb fail with "<< GetLastError() << endl; cout << "Create dcb fail with "<< GetLastError() << endl;
} }
/** <EFBFBD><EFBFBD><EFBFBD><EFBFBD>RTS flow<EFBFBD><EFBFBD><EFBFBD><EFBFBD> */ /** 开启RTS flow控制 */
dcb.fRtsControl = RTS_CONTROL_ENABLE; dcb.fRtsControl = RTS_CONTROL_ENABLE;
} }
if (bIsSuccess) { if (bIsSuccess) {
/** ʹ<EFBFBD><EFBFBD>DCB<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ô<EFBFBD><EFBFBD><EFBFBD>״̬ */ /** 使用DCB参数配置串口状态 */
bIsSuccess = SetCommState(hComm, &dcb); bIsSuccess = SetCommState(hComm, &dcb);
if (!bIsSuccess) { if (!bIsSuccess) {
cout << "SetCommState error!" << endl; cout << "SetCommState error!" << endl;
} }
} }
/** <EFBFBD><EFBFBD><EFBFBD>մ<EFBFBD><EFBFBD>ڻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */ /** 清空串口缓冲区 */
PurgeComm(hComm, PURGE_RXCLEAR | PURGE_TXCLEAR | PURGE_RXABORT | PURGE_TXABORT); PurgeComm(hComm, PURGE_RXCLEAR | PURGE_TXCLEAR | PURGE_RXABORT | PURGE_TXABORT);
return bIsSuccess; return bIsSuccess;
} }
UINT Serial::GetBytesInCOM() const { UINT Serial::GetBytesInCOM() const {
DWORD dwError = 0; /** <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */ DWORD dwError = 0; /** 错误码 */
COMSTAT comstat; /** COMSTAT<EFBFBD>ṹ<EFBFBD><EFBFBD>,<2C><>¼ͨ<C2BC><CDA8><EFBFBD>豸<EFBFBD><E8B1B8>״̬<D7B4><CCAC>Ϣ */ COMSTAT comstat; /** COMSTAT结构体,记录通信设备的状态信息 */
memset(&comstat, 0, sizeof(COMSTAT)); memset(&comstat, 0, sizeof(COMSTAT));
UINT BytesInQue = 0; UINT BytesInQue = 0;
/** <EFBFBD>ڵ<EFBFBD><EFBFBD><EFBFBD>ReadFile<EFBFBD><EFBFBD>WriteFile֮ǰ,ͨ<><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>־ */ /** 在调用ReadFile和WriteFile之前,通过本函数清除以前遗留的错误标志 */
if (ClearCommError(hComm, &dwError, &comstat)) { if (ClearCommError(hComm, &dwError, &comstat)) {
BytesInQue = comstat.cbInQue; /** <EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>뻺<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD><EFBFBD>ֽ<EFBFBD><EFBFBD><EFBFBD> */ BytesInQue = comstat.cbInQue; /** 获取在输入缓冲区中的字节数 */
} }
return BytesInQue; return BytesInQue;
@@ -130,13 +132,13 @@ bool Serial::WriteData(const unsigned char* pData, unsigned int length) {
return false; return false;
} }
/** <EFBFBD>򻺳<EFBFBD><EFBFBD><EFBFBD>д<EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */ /** 向缓冲区写入指定量的数据 */
BOOL bResult = TRUE; BOOL bResult = TRUE;
DWORD BytesToSend = 0; DWORD BytesToSend = 0;
bResult = WriteFile(hComm, pData, length, &BytesToSend, NULL); bResult = WriteFile(hComm, pData, length, &BytesToSend, NULL);
if (!bResult) { if (!bResult) {
DWORD dwError = GetLastError(); DWORD dwError = GetLastError();
/** <EFBFBD><EFBFBD><EFBFBD>մ<EFBFBD><EFBFBD>ڻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */ /** 清空串口缓冲区 */
PurgeComm(hComm, PURGE_RXCLEAR | PURGE_RXABORT); PurgeComm(hComm, PURGE_RXCLEAR | PURGE_RXABORT);
ErrorHandler(); ErrorHandler();
return false; return false;
@@ -150,17 +152,17 @@ bool Serial::ReadData(unsigned char *buffer, unsigned int length) {
return false; return false;
} }
/** <EFBFBD>ӻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡlength<EFBFBD>ֽڵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */ /** 从缓冲区读取length字节的数据 */
BOOL bResult = TRUE; BOOL bResult = TRUE;
DWORD totalRead = 0, onceRead = 0; DWORD totalRead = 0, onceRead = 0;
while (totalRead < length) { while (totalRead < length) {
bResult = ReadFile(hComm, buffer, length-totalRead, &onceRead, NULL); bResult = ReadFile(hComm, buffer, length-totalRead, &onceRead, NULL);
totalRead += onceRead; totalRead += onceRead;
if ((!bResult)) { if ((!bResult)) {
/** <EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD>Ը<EFBFBD><D4B8>ݸô<DDB8><C3B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭ<EFBFBD><D4AD> */ /** 获取错误码,可以根据该错误码查出错误原因 */
DWORD dwError = GetLastError(); DWORD dwError = GetLastError();
/** <EFBFBD><EFBFBD><EFBFBD>մ<EFBFBD><EFBFBD>ڻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */ /** 清空串口缓冲区 */
PurgeComm(hComm, PURGE_RXCLEAR | PURGE_RXABORT); PurgeComm(hComm, PURGE_RXCLEAR | PURGE_RXABORT);
ErrorHandler(); ErrorHandler();
return false; return false;
@@ -168,3 +170,156 @@ bool Serial::ReadData(unsigned char *buffer, unsigned int length) {
} }
return bResult; return bResult;
} }
#else defined(Linux)
#include <string.h>
using namespace std;
string get_uart_dev_name(){
FILE* ls = popen("ls /dev/ttyUSB* --color=never", "r");
char name[20] = {0};
fscanf(ls, "%s", name);
return name;
}
Serial::Serial(int nSpeed, char nEvent, int nBits, int nStop) :
nSpeed(nSpeed), nEvent(nEvent), nBits(nBits), nStop(nStop){
if(wait_uart){
LOGM("Wait for serial be ready!");
while(InitPort(nSpeed, nEvent, nBits, nStop) == false);
LOGM("Port set successfully!");
}else{
if(InitPort(nSpeed, nEvent, nBits, nStop)){
LOGM("Port set successfully!");
}else{
LOGE("Port set fail!");
}
}
}
Serial::~Serial() {
close(fd);
fd = -1;
}
bool Serial::InitPort(int nSpeed, char nEvent, int nBits, int nStop){
string name = get_uart_dev_name();
if(name == ""){
return false;
}
if((fd=open(name.data(), O_RDWR)) < 0){
return false;
}
if(set_opt(fd, nSpeed, nEvent, nBits, nStop) < 0){
return false;
}
return true;
}
//int GetBytesInCOM() const {
//
//}
bool Serial::WriteData(const unsigned char* pData, unsigned int length){
int cnt=0, curr=0;
while((curr=write(fd, pData+cnt, length-cnt))>0 && (cnt+=curr)<length);
if(cnt < 0){
LOGE("Serial offline!");
close(fd);
if(wait_uart){
InitPort(nSpeed, nEvent, nBits, nStop);
}
}
}
bool Serial::ReadData(unsigned char* buffer, unsigned int length){
int cnt=0, curr=0;
while((curr=read(fd, buffer+cnt, length-cnt))>0 && (cnt+=curr)<length);
if(cnt < 0){
LOGE("Serial offline!");
close(fd);
if(wait_uart){
InitPort(nSpeed, nEvent, nBits, nStop);
}
}
}
int Serial::set_opt(int fd, int nSpeed, char nEvent, int nBits, int nStop) {
termios newtio{}, oldtio{};
if (tcgetattr(fd, &oldtio) != 0) {
perror("SetupSerial 1");
return -1;
}
bzero(&newtio, sizeof(newtio));
newtio.c_cflag |= CLOCAL | CREAD;
newtio.c_cflag &= ~CSIZE;
switch (nBits) {
case 7:
newtio.c_cflag |= CS7;break;
case 8:
newtio.c_cflag |= CS8;break;
default:break;
}
switch (nEvent) {
case 'O': //奇校验
newtio.c_cflag |= PARENB;
newtio.c_cflag |= PARODD;
newtio.c_iflag |= (INPCK | ISTRIP);
break;
case 'E': //偶校验
newtio.c_iflag |= (INPCK | ISTRIP);
newtio.c_cflag |= PARENB;
newtio.c_cflag &= ~PARODD;
break;
case 'N': //无校验
newtio.c_cflag &= ~PARENB;
break;
default:break;
}
switch (nSpeed) {
case 2400:
cfsetispeed(&newtio, B2400);
cfsetospeed(&newtio, B2400);
break;
case 4800:
cfsetispeed(&newtio, B4800);
cfsetospeed(&newtio, B4800);
break;
case 9600:
cfsetispeed(&newtio, B9600);
cfsetospeed(&newtio, B9600);
break;
case 115200:
cfsetispeed(&newtio, B115200);
cfsetospeed(&newtio, B115200);
break;
default:
cfsetispeed(&newtio, B9600);
cfsetospeed(&newtio, B9600);
break;
}
if (nStop == 1) {
newtio.c_cflag &= ~CSTOPB;
} else if (nStop == 2) {
newtio.c_cflag |= CSTOPB;
}
newtio.c_cc[VTIME] = 0;
newtio.c_cc[VMIN] = 0;
tcflush(fd, TCIFLUSH);
if ((tcsetattr(fd, TCSANOW, &newtio)) != 0) {
perror("com set error");
return -1;
}
printf("set done!\n");
return 0;
}
#endif /* switch os */

2
tools/TrainCNN/backward.py
View File

@@ -103,7 +103,7 @@ def train(dataset, show_bar=False):
if i % 100 == 0: if i % 100 == 0:
if i % 1000 == 0: if i % 1000 == 0:
test_samples, test_labels = dataset.sample_test_sets(5000) test_samples, test_labels = dataset.sample_test_sets(1000)
acc = sess.run(accuracy, feed_dict={x: test_samples, y_: test_labels}) acc = sess.run(accuracy, feed_dict={x: test_samples, y_: test_labels})
bar.set_postfix({"loss": loss_value, "acc": acc}) bar.set_postfix({"loss": loss_value, "acc": acc})

4
tools/TrainCNN/forward.py
View File

@@ -72,13 +72,13 @@ def forward(x, regularizer=None):
node = pool_shape[1] * pool_shape[2] * pool_shape[3] node = pool_shape[1] * pool_shape[2] * pool_shape[3]
reshaped = tf.reshape(pool2, [-1, node]) reshaped = tf.reshape(pool2, [-1, node])
fc1_w = get_weight([node, FC1_OUTPUT_NODES], regularizer) fc1_w = tf.nn.dropout(get_weight([node, FC1_OUTPUT_NODES], regularizer), 0.1)
fc1_b = get_bias([FC1_OUTPUT_NODES]) fc1_b = get_bias([FC1_OUTPUT_NODES])
fc1 = tf.nn.relu(tf.matmul(reshaped, fc1_w) + fc1_b) fc1 = tf.nn.relu(tf.matmul(reshaped, fc1_w) + fc1_b)
vars.extend([fc1_w, fc1_b]) vars.extend([fc1_w, fc1_b])
nodes.extend([fc1]) nodes.extend([fc1])
fc2_w = get_weight([FC1_OUTPUT_NODES, FC2_OUTPUT_NODES], regularizer) fc2_w = tf.nn.dropout(get_weight([FC1_OUTPUT_NODES, FC2_OUTPUT_NODES], regularizer), 0.1)
fc2_b = get_bias([FC2_OUTPUT_NODES]) fc2_b = get_bias([FC2_OUTPUT_NODES])
fc2 = tf.nn.softmax(tf.matmul(fc1, fc2_w) + fc2_b) fc2 = tf.nn.softmax(tf.matmul(fc1, fc2_w) + fc2_b)
vars.extend([fc2_w, fc2_b]) vars.extend([fc2_w, fc2_b])