VSAG/vision_sjtu_19
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some updates

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This commit is contained in:
xinyang
2019-05-18 19:00:34 +08:00
parent f136b8f60a
commit c84c7420cd
2 changed files with 6 additions and 15 deletions
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19
main.cpp
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@@ -42,15 +42,7 @@ int main(int argc, char *argv[]) {
Serial serial(115200); Serial serial(115200);
uint8_t last_state = mcuData.state; uint8_t last_state = mcuData.state;
thread receive(uartReceive, &serial); thread receive(uartReceive, &serial);
bool keep = true;
thread change([&]() {
while (true) {
Sleep(10000);
if (mcuData.state == ARMOR_STATE) mcuData.state = ENERGY_STATE;
else if (mcuData.state == ENERGY_STATE)mcuData.state = ARMOR_STATE;
cout << "state changed to " << mcuData.state << endl;
}
});
int from_camera = 1; int from_camera = 1;
if (!run_with_camera) { if (!run_with_camera) {
@@ -58,7 +50,7 @@ int main(int argc, char *argv[]) {
cin >> from_camera; cin >> from_camera;
} }
while (true) { while (keep) {
VideoWriter armor_video_writer, energy_video_writer; VideoWriter armor_video_writer, energy_video_writer;
if (save_video) { if (save_video) {
initVideoWriter(armor_video_writer, PROJECT_DIR"/armor_video/"); initVideoWriter(armor_video_writer, PROJECT_DIR"/armor_video/");
@@ -111,7 +103,6 @@ int main(int argc, char *argv[]) {
if (mcuData.state == ENERGY_STATE) { if (mcuData.state == ENERGY_STATE) {
if (last_state == ARMOR_STATE) { if (last_state == ARMOR_STATE) {
energy.setEnergyRotationInit(); energy.setEnergyRotationInit();
cout << "set" << endl;
} }
last_state = mcuData.state; last_state = mcuData.state;
if (video_energy) { if (video_energy) {
@@ -166,9 +157,9 @@ int main(int argc, char *argv[]) {
} }
} }
} }
waitKey(1); if(waitKey(1) == 'q'){
keep = false;
}
}); });
} while (ok); } while (ok);

2
tools/bind-monitor.sh
View File

@@ -1,5 +1,5 @@
#!/bin/bash #!/bin/bash
echo "#!/bin/bash" > $2/monitor-run echo "#!/bin/bash" > $2/monitor-run
echo "gnome-terminal -- bash -c \"echo sjturm | sudo -S $1/tools/monitor.sh \\\"$2/run --run-with-camera --show-armor-box --wait-uart\\\"\"" >> $2/monitor-run echo "gnome-terminal -- bash -c \"echo sjturm | sudo -S $1/tools/monitor.sh \\\"$2/run --run-with-camera --show-armor-box --wait-uart --save-video\\\"\"" >> $2/monitor-run
chmod +x $2/monitor-run chmod +x $2/monitor-run