·

Reviewed-on: #1

.gitignore

@@ -1,6 +1,9 @@
 cmake-build-debug
 build
 .idea
+.xmake
+.vscode/.cache
+.vscode/compile_commands.json
 Mark
 armor_box_photo
 tools/TrainCNN/.idea

.vscode/settings.json

@@ -0,0 +1,8 @@
+{
+        "clangd.arguments": [
+        "--compile-commands-dir=${workspaceFolder}/build",
+        "--completion-style=detailed",
+        "--query-driver=/usr/bin/clang",
+        "--header-insertion=never"
+    ],
+}

CMakeLists.txt

@@ -1,13 +1,15 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
 
 PROJECT(SJTU-RM-CV)
-SET(CMAKE_CXX_STANDARD 11)
+SET(CMAKE_CXX_STANDARD 14)
 SET(CMAKE_BUILD_TYPE RELEASE)
 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} -D${CMAKE_SYSTEM_NAME}")
 SET(BIN_NAME "run")
 
+SET(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
 
 FIND_FILE(CONFIG_FOUND "config.h" "others/include/config")
 if (CONFIG_FOUND)
@@ -24,7 +26,7 @@ IF(CCACHE_FOUND)
 ENDIF()
 
 FIND_PACKAGE(Eigen3 REQUIRED)
-FIND_PACKAGE(OpenCV 3 REQUIRED)
+FIND_PACKAGE(OpenCV 4 REQUIRED)
 FIND_PACKAGE(Threads)
 
 LINK_DIRECTORIES(${PROJECT_SOURCE_DIR}/others)

LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2019 xinyang
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

@@ -13,6 +13,12 @@
 
 **如有BUG或者想交流的朋友欢迎积极联系我们**
 
+**分享部分比赛时摄像头录制的视频:**
+
+链接: https://pan.baidu.com/s/1LwxEpeYYblX3cSzb59MTVg 提取码: 84ju 复制这段内容后打开百度网盘手机App，操作更方便哦
+
+---
+
 运行效果：自瞄帧率120（摄像头最大帧率）,识别距离根据环境不同大约8米左右(5mm焦距镜头)。
 
 ![front](https://github.com/lloi7/SJTU-RM-CV-2019/blob/master/picture0.png)
@@ -24,6 +30,8 @@
 | ---------------------------------------------------- | -------------------------------------------- | ------------------------------------------------------------ | ---------------------------------------------------------- |
 | IntelNUC<br />MindVision工业相机×１<br />USB转TTL×１ | Ubuntu18.04<br />Ubuntu16.04<br />Ｗindows10 | OpenCV3.4.5<br />OpenCV_contrib3.4.5<br />Eigen3<br />MindVision相机驱动 | Ubuntu18/16 : cmake3+gcc7+g++7 <br />Win10 : cmake3+VS2019 |
 
+MindVision相机型号：MV-UBS31GC
+
 **关于Windows环境下的运行支持，仅保证程序可以编译运行。对与部分辅助功能，如生成自启动脚本则不支持。**
 
 **实际装载在步兵和哨兵上的运行环境为Ubuntu18.04。**
@@ -60,6 +68,8 @@ sudo ./run
 
 ```./run --help```可以查看所有命令行参数及其作用。所有调试选项都集成到了命令行参数中。
 
+**不使用任何参数直接运行将没有任何图像显示。**
+
 需要调参的部分：主要需要根据车辆情况而调参的参数存放在others/include/config/setconfig.h中
 
 ### 3.工作条件
@@ -118,7 +128,7 @@ sudo ./run
 ### 1.自瞄装甲板识别方式
 
 ​    首先对图像进行通道拆分以及二值化操作，再进行开闭运算，通过边缘提取和条件限制得出可能为灯条的部分。再对所有可能的灯条进行两两匹配，根据形状大小特性进行筛选，得出可能为装甲板的候选区。然后把所有候选区交给分类器判断，得出真实的装甲板及其数字id。最后根据优先级选取最终击打目标以及后续处理。
-
+​     ![autoaim](https://github.com/lloi7/SJTU-RM-CV-2019/blob/master/自瞄流程图.png)
 ### 2.能量机关识别方式
 
 ​    首先对图像进行二值化操作，然后进行一定腐蚀和膨胀，通过边缘提取和条件限制得出待击打叶片（锤子形）。在待击打叶片范围内进一步用类似方法寻找目标装甲板和流动条，在二者连线上寻找中心的“R”。根据目标装甲板坐标和中心坐标计算极坐标系下的目标角度，进而预测待击打点的坐标（小符为装甲板本身，大符需要旋转）。最后将待击打点坐标和图像中心的差值转换为yaw和pitch轴角度，增加一环PID后发送给云台主控板。

armor/include/CSerialPort/SerialPort.h

@@ -0,0 +1,82 @@
+#ifndef CSERIALPORT_SERIALPORT_H
+#define CSERIALPORT_SERIALPORT_H
+
+#include <cstdint>
+#include <cstring>
+
+namespace itas109 {
+
+enum class Parity {
+    ParityNone  = 0,
+    ParityOdd   = 1,
+    ParityEven  = 2,
+};
+
+enum class DataBits {
+    DataBits5 = 5,
+    DataBits6 = 6,
+    DataBits7 = 7,
+    DataBits8 = 8,
+};
+
+enum class StopBits {
+    StopOne     = 1,
+    StopOneAndHalf = 3,
+    StopTwo     = 2,
+};
+
+enum class FlowControl {
+    FlowNone     = 0,
+    FlowHardware = 1,
+    FlowSoftware = 2,
+};
+
+class CSerialPort {
+public:
+    CSerialPort();
+    ~CSerialPort();
+
+    // 初始化串口参数（不打开）
+    void init(const char* portName,
+              int         baudRate    = 115200,
+              Parity      parity      = Parity::ParityNone,
+              DataBits    dataBits    = DataBits::DataBits8,
+              StopBits    stopBits    = StopBits::StopOne,
+              FlowControl flowControl = FlowControl::FlowNone,
+              int         readTimeoutMs = 1000);
+
+    // 打开串口，成功返回 true
+    bool open();
+
+    // 关闭串口
+    void close();
+
+    // 写数据，返回实际写入字节数（失败返回 -1）
+    int writeData(const uint8_t* data, size_t length);
+
+    // 读数据，返回实际读取字节数（失败返回 -1）
+    int readData(uint8_t* buffer, size_t maxLength);
+
+    // 返回最近一次错误码
+    int getLastError() const { return m_lastError; }
+
+private:
+    char        m_portName[256];
+    int         m_baudRate;
+    Parity      m_parity;
+    DataBits    m_dataBits;
+    StopBits    m_stopBits;
+    FlowControl m_flowControl;
+    int         m_readTimeoutMs;
+
+    int  m_fd;          // 文件描述符
+    int  m_lastError;
+    bool m_isOpen;
+
+    // termios 波特率映射
+    static int toBaudRate(int baud);
+};
+
+} // namespace itas109
+
+#endif // CSERIALPORT_SERIALPORT_H

armor/include/CSerialPort/SerialPortInfo.h

@@ -0,0 +1,27 @@
+#ifndef CSERIALPORT_SERIALPORTINFO_H
+#define CSERIALPORT_SERIALPORTINFO_H
+
+#include <vector>
+#include <cstring>
+
+namespace itas109 {
+
+struct SerialPortInfo {
+    char portName[256];
+    char description[256];
+
+    SerialPortInfo() {
+        std::memset(portName, 0, sizeof(portName));
+        std::memset(description, 0, sizeof(description));
+    }
+};
+
+class CSerialPortInfo {
+public:
+    // 枚举系统上所有可用串口
+    static std::vector<SerialPortInfo> availablePortInfos();
+};
+
+} // namespace itas109
+
+#endif // CSERIALPORT_SERIALPORTINFO_H

armor/include/armor_finder/armor_finder.h

@@ -9,7 +9,7 @@
 #include <systime.h>
 #include <constants.h>
 #include <opencv2/core.hpp>
-#include <opencv2/tracking.hpp>
+#include <opencv2/tracking/tracking.hpp>
 #include <serial.h>
 #include <armor_finder/classifier/classifier.h>
 #include <additions.h>
@@ -20,8 +20,8 @@
 #define BOX_RED     ENEMY_RED
 #define BOX_BLUE    ENEMY_BLUE
 
-#define IMAGE_CENTER_X      (320)
-#define IMAGE_CENTER_Y      (240-20)
+#define IMAGE_CENTER_X      (640)
+#define IMAGE_CENTER_Y      (512-20)
 
 #define DISTANCE_HEIGHT_5MM (10700.0)     // 单位: cm*pixel
 #define DISTANCE_HEIGHT     DISTANCE_HEIGHT_5MM
@@ -120,6 +120,10 @@ private:
     vector<systime> time_seq;                           // 一个周期内的时间采样点
     vector<float> angle_seq;                            // 一个周期内的角度采样点
 
+    float yaw_rotation, pitch_rotation;//云台yaw轴和pitch轴应该转到的角度
+    float last_yaw, last_pitch;//PID中微分项
+    float sum_yaw, sum_pitch;//yaw和pitch的累计误差，即PID中积分项
+
     bool findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs);
     bool findArmorBox(const cv::Mat &src, ArmorBox &box);
     bool matchArmorBoxes(const cv::Mat &src, const LightBlobs &light_blobs, ArmorBoxes &armor_boxes);

armor/include/serialComm.hpp

@@ -0,0 +1,58 @@
+#ifndef SERIAL_COMM_H
+#define SERIAL_COMM_H
+
+#include <vector>
+#include "CSerialPort/SerialPort.h"
+#include "CSerialPort/SerialPortInfo.h"
+#include <cstdio>
+
+using namespace itas109;
+
+// Serial port configuration
+namespace SerialConfig {
+    constexpr int BAUD_RATE = 115200;
+    constexpr Parity PARITY_TYPE = Parity::ParityNone;
+    constexpr DataBits DATA_BITS = DataBits::DataBits8;
+    constexpr StopBits STOP_BITS = StopBits::StopOne;
+    constexpr FlowControl FLOW_CTRL = FlowControl::FlowNone;
+    constexpr int READ_TIMEOUT_MS = 1000;
+}
+
+class SerialComm {
+private:
+    CSerialPort m_serialPort;
+    char m_portName[256];
+    bool m_isOpen;
+
+public:
+    SerialComm();
+    ~SerialComm();
+
+    // Find first ttyUSB device
+    bool findFirstTtyUSB();
+    
+    // Open serial port
+    bool openPort();
+    
+    // Close serial port
+    void closePort();
+    
+    // Send data
+    bool sendData(const char* data, size_t length);
+    bool sendData(const uint8_t* data, size_t length);
+    
+    // Receive data
+    int receiveData(uint8_t* buffer, size_t maxLength);
+    int receiveData(char* buffer, size_t maxLength);
+    
+    // Check if port is open
+    bool isOpen() const { return m_isOpen; }
+    
+    // Get current port name
+    const char* getPortName() const { return m_portName; }
+    
+    // List all available ports
+    static void listAllPorts();
+};
+
+#endif // SERIAL_COMM_H

armor/include/serialManager.hpp

@@ -0,0 +1,126 @@
+#ifndef SERIAL_MANAGER_HPP
+#define SERIAL_MANAGER_HPP
+
+#include "serialComm.hpp"
+#include <thread>
+#include <atomic>
+#include <mutex>
+#include <cstdio>
+#include <chrono>
+
+class SerialManager {
+private:
+    SerialComm m_serial;
+    std::thread m_connectionThread;
+    std::atomic<bool> m_isConnected;
+    std::atomic<bool> m_shouldStop;
+    std::mutex m_serialMutex;
+    int m_retryIntervalMs;
+
+    // 后台重连线程函数
+    void connectionThreadFunc() {
+        printf("[I][SerialMgr]: RETRY\n");
+        
+        while (!m_shouldStop.load()) {
+            if (!m_isConnected.load()) {
+                
+                std::lock_guard<std::mutex> lock(m_serialMutex);
+                
+                if (m_serial.findFirstTtyUSB() && m_serial.openPort()) {
+                    m_isConnected.store(true);
+                } else {
+                    printf("[W][SerialMgr]: Failed, retry in %dms\n", m_retryIntervalMs);
+                }
+            }
+            
+            std::this_thread::sleep_for(std::chrono::milliseconds(m_retryIntervalMs));
+        }
+        
+        printf("[I][SerialMgr]: EXIT\n");
+    }
+
+public:
+    // 构造函数：retryIntervalMs - 重试间隔（毫秒）
+    SerialManager(int retryIntervalMs = 500) 
+        : m_isConnected(false)
+        , m_shouldStop(false)
+        , m_retryIntervalMs(retryIntervalMs) {
+    }
+
+    ~SerialManager() {
+        stop();
+    }
+
+    // 启动管理器（开始后台重连）
+    void start() {
+        if (!m_connectionThread.joinable()) {
+            m_shouldStop.store(false);
+            m_connectionThread = std::thread(&SerialManager::connectionThreadFunc, this);
+            printf("[I][SerialMgr]: START\n");
+        }
+    }
+
+    // 停止管理器
+    void stop() {
+        if (m_connectionThread.joinable()) {
+            m_shouldStop.store(true);
+            m_connectionThread.join();
+            
+            std::lock_guard<std::mutex> lock(m_serialMutex);
+            m_serial.closePort();
+            m_isConnected.store(false);
+            
+            printf("[I][SerialMgr]: STOP\n");
+        }
+    }
+
+    // 检查是否已连接
+    bool isConnected() const {
+        return m_isConnected.load();
+    }
+
+    // 发送数据（线程安全）
+    bool sendData(const char* data, size_t length) {
+        if (!m_isConnected.load()) {
+            return false;
+        }
+
+        std::lock_guard<std::mutex> lock(m_serialMutex);
+        
+        if (!m_serial.sendData(data, length)) {
+            // 发送失败，标记为断开
+            m_isConnected.store(false);
+            printf("[W][SerialMgr]: Failed, mark DISCONNECT\n");
+            return false;
+        }
+        
+        return true;
+    }
+
+    // 发送数据（字节数组）
+    bool sendData(const uint8_t* data, size_t length) {
+        return sendData(reinterpret_cast<const char*>(data), length);
+    }
+
+    // 接收数据（线程安全）
+    int receiveData(uint8_t* buffer, size_t maxLength) {
+        if (!m_isConnected.load()) {
+            return -1;
+        }
+
+        std::lock_guard<std::mutex> lock(m_serialMutex);
+        return m_serial.receiveData(buffer, maxLength);
+    }
+
+    // 接收数据（字符数组）
+    int receiveData(char* buffer, size_t maxLength) {
+        return receiveData(reinterpret_cast<uint8_t*>(buffer), maxLength);
+    }
+
+    // 获取端口名
+    const char* getPortName() const {
+        return m_serial.getPortName();
+    }
+};
+
+#endif // SERIAL_MANAGER_HPP

armor/include/unifiedManager.hpp

@@ -0,0 +1,40 @@
+#ifndef UNIFIED_MANAGER_HPP
+#define UNIFIED_MANAGER_HPP
+
+#include "serialComm.hpp"
+#include <memory>
+#include <thread>
+#include <atomic>
+#include <mutex>
+#include <chrono>
+
+// Unified device manager (Serial only)
+class UnifiedDeviceManager {
+private:
+    std::unique_ptr<SerialComm> m_serial;
+
+    std::thread m_serialReconnectThread;
+    std::atomic<bool> m_serialConnected;
+    std::atomic<bool> m_shouldStop;
+
+    std::mutex m_serialMutex;
+
+    int m_retryIntervalMs;
+
+    void serialReconnectThreadFunc();
+
+public:
+    UnifiedDeviceManager(int retryIntervalMs = 500);
+    ~UnifiedDeviceManager();
+
+    void start();
+    void stop();
+
+    bool isSerialConnected() const { return m_serialConnected.load(); }
+
+    // Serial operations (thread-safe)
+    bool sendData(const char* data, size_t length);
+    int receiveData(uint8_t* buffer, size_t maxLength);
+};
+
+#endif // UNIFIED_MANAGER_HPP

armor/src/CSerialPort/SerialPort.cpp

@@ -0,0 +1,207 @@
+#include "CSerialPort/SerialPort.h"
+
+#include <fcntl.h>
+#include <termios.h>
+#include <unistd.h>
+#include <sys/select.h>
+#include <cerrno>
+#include <cstring>
+
+namespace itas109 {
+
+CSerialPort::CSerialPort()
+    : m_baudRate(115200)
+    , m_parity(Parity::ParityNone)
+    , m_dataBits(DataBits::DataBits8)
+    , m_stopBits(StopBits::StopOne)
+    , m_flowControl(FlowControl::FlowNone)
+    , m_readTimeoutMs(1000)
+    , m_fd(-1)
+    , m_lastError(0)
+    , m_isOpen(false)
+{
+    std::memset(m_portName, 0, sizeof(m_portName));
+}
+
+CSerialPort::~CSerialPort() {
+    close();
+}
+
+void CSerialPort::init(const char* portName,
+                       int         baudRate,
+                       Parity      parity,
+                       DataBits    dataBits,
+                       StopBits    stopBits,
+                       FlowControl flowControl,
+                       int         readTimeoutMs)
+{
+    std::strncpy(m_portName, portName, sizeof(m_portName) - 1);
+    m_portName[sizeof(m_portName) - 1] = '\0';
+    m_baudRate      = baudRate;
+    m_parity        = parity;
+    m_dataBits      = dataBits;
+    m_stopBits      = stopBits;
+    m_flowControl   = flowControl;
+    m_readTimeoutMs = readTimeoutMs;
+}
+
+bool CSerialPort::open() {
+    if (m_isOpen) close();
+
+    m_fd = ::open(m_portName, O_RDWR | O_NOCTTY | O_NONBLOCK);
+    if (m_fd < 0) {
+        m_lastError = errno;
+        return false;
+    }
+
+    struct termios tty;
+    std::memset(&tty, 0, sizeof(tty));
+    if (tcgetattr(m_fd, &tty) != 0) {
+        m_lastError = errno;
+        ::close(m_fd);
+        m_fd = -1;
+        return false;
+    }
+
+    // 波特率
+    speed_t speed = static_cast<speed_t>(toBaudRate(m_baudRate));
+    cfsetispeed(&tty, speed);
+    cfsetospeed(&tty, speed);
+
+    // 数据位
+    tty.c_cflag &= ~CSIZE;
+    switch (m_dataBits) {
+        case DataBits::DataBits5: tty.c_cflag |= CS5; break;
+        case DataBits::DataBits6: tty.c_cflag |= CS6; break;
+        case DataBits::DataBits7: tty.c_cflag |= CS7; break;
+        case DataBits::DataBits8:
+        default:                  tty.c_cflag |= CS8; break;
+    }
+
+    // 停止位
+    if (m_stopBits == StopBits::StopTwo)
+        tty.c_cflag |= CSTOPB;
+    else
+        tty.c_cflag &= ~CSTOPB;
+
+    // 校验位
+    switch (m_parity) {
+        case Parity::ParityOdd:
+            tty.c_cflag |=  PARENB;
+            tty.c_cflag |=  PARODD;
+            tty.c_iflag |=  (INPCK | ISTRIP);
+            break;
+        case Parity::ParityEven:
+            tty.c_cflag |=  PARENB;
+            tty.c_cflag &= ~PARODD;
+            tty.c_iflag |=  (INPCK | ISTRIP);
+            break;
+        case Parity::ParityNone:
+        default:
+            tty.c_cflag &= ~PARENB;
+            tty.c_iflag &= ~(INPCK | ISTRIP);
+            break;
+    }
+
+    // 流控
+    if (m_flowControl == FlowControl::FlowHardware)
+        tty.c_cflag |= CRTSCTS;
+    else
+        tty.c_cflag &= ~CRTSCTS;
+
+    if (m_flowControl == FlowControl::FlowSoftware)
+        tty.c_iflag |= (IXON | IXOFF | IXANY);
+    else
+        tty.c_iflag &= ~(IXON | IXOFF | IXANY);
+
+    // 本地模式 & 输入模式（raw）
+    tty.c_cflag |=  (CREAD | CLOCAL);
+    tty.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
+    tty.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL);
+    tty.c_oflag &= ~OPOST;
+
+    // 非阻塞读，超时由 select 控制
+    tty.c_cc[VMIN]  = 0;
+    tty.c_cc[VTIME] = 0;
+
+    if (tcsetattr(m_fd, TCSANOW, &tty) != 0) {
+        m_lastError = errno;
+        ::close(m_fd);
+        m_fd = -1;
+        return false;
+    }
+
+    tcflush(m_fd, TCIOFLUSH);
+    m_isOpen    = true;
+    m_lastError = 0;
+    return true;
+}
+
+void CSerialPort::close() {
+    if (m_fd >= 0) {
+        ::close(m_fd);
+        m_fd = -1;
+    }
+    m_isOpen = false;
+}
+
+int CSerialPort::writeData(const uint8_t* data, size_t length) {
+    if (!m_isOpen || m_fd < 0) {
+        m_lastError = EBADF;
+        return -1;
+    }
+    ssize_t written = ::write(m_fd, data, length);
+    if (written < 0) {
+        m_lastError = errno;
+        return -1;
+    }
+    tcdrain(m_fd);  // 等待发送完成
+    return static_cast<int>(written);
+}
+
+int CSerialPort::readData(uint8_t* buffer, size_t maxLength) {
+    if (!m_isOpen || m_fd < 0) {
+        m_lastError = EBADF;
+        return -1;
+    }
+
+    // 用 select 实现超时
+    struct timeval tv;
+    tv.tv_sec  = m_readTimeoutMs / 1000;
+    tv.tv_usec = (m_readTimeoutMs % 1000) * 1000;
+
+    fd_set fds;
+    FD_ZERO(&fds);
+    FD_SET(m_fd, &fds);
+
+    int ret = select(m_fd + 1, &fds, nullptr, nullptr, &tv);
+    if (ret <= 0) {
+        // 超时或错误
+        m_lastError = (ret == 0) ? ETIME : errno;
+        return 0;
+    }
+
+    ssize_t bytesRead = ::read(m_fd, buffer, maxLength);
+    if (bytesRead < 0) {
+        m_lastError = errno;
+        return -1;
+    }
+    m_lastError = 0;
+    return static_cast<int>(bytesRead);
+}
+
+int CSerialPort::toBaudRate(int baud) {
+    switch (baud) {
+        case 9600:   return B9600;
+        case 19200:  return B19200;
+        case 38400:  return B38400;
+        case 57600:  return B57600;
+        case 115200: return B115200;
+        case 230400: return B230400;
+        case 460800: return B460800;
+        case 921600: return B921600;
+        default:     return B115200;
+    }
+}
+
+} // namespace itas109

armor/src/CSerialPort/SerialPortInfo.cpp

@@ -0,0 +1,35 @@
+#include "CSerialPort/SerialPortInfo.h"
+
+#include <dirent.h>
+#include <cstring>
+#include <string>
+
+namespace itas109 {
+
+std::vector<SerialPortInfo> CSerialPortInfo::availablePortInfos() {
+    std::vector<SerialPortInfo> result;
+
+    // 扫描 /dev 目录，找 ttyUSB / ttyCH341USB / ttyACM / ttyS 等设备
+    DIR* dir = opendir("/dev");
+    if (!dir) return result;
+
+    struct dirent* entry;
+    while ((entry = readdir(dir)) != nullptr) {
+        const char* name = entry->d_name;
+        if (std::strstr(name, "ttyUSB") != nullptr  ||
+            std::strstr(name, "ttyCH341") != nullptr ||
+            std::strstr(name, "ttyACM") != nullptr)
+        {
+            SerialPortInfo info;
+            std::string fullPath = std::string("/dev/") + name;
+            std::strncpy(info.portName, fullPath.c_str(), sizeof(info.portName) - 1);
+            std::strncpy(info.description, name, sizeof(info.description) - 1);
+            result.push_back(info);
+        }
+    }
+    closedir(dir);
+
+    return result;
+}
+
+} // namespace itas109

armor/src/armor_finder/anti_top/anti_top.cpp

@@ -38,6 +38,12 @@ void ArmorFinder::antiTop() {
     // 通过两次装甲角度为零的时间差计算陀螺旋转周期
     // 根据旋转周期计算下一次装甲出现在角度为零的时间点
     if (getPointLength(last_box.getCenter() - target_box.getCenter()) > last_box.rect.height * 1.5) {
+        sum_yaw = sum_pitch = 0;
+        double dx = target_box.rect.x + target_box.rect.width / 2.0 - IMAGE_CENTER_X;
+        double dy = target_box.rect.y + target_box.rect.height / 2.0 - IMAGE_CENTER_Y;
+        last_yaw = dx;
+        last_pitch = dy;
+
         auto front_time = getFrontTime(time_seq, angle_seq);
         auto once_periodms = getTimeIntervalms(front_time, last_front_time);
 //        if (abs(once_periodms - top_periodms[-1]) > 50) {

armor/src/armor_finder/armor_finder.cpp

@@ -54,7 +54,9 @@ ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder,
         anti_switch_cnt(0),
         classifier(paras_folder),
         contour_area(0),
-        tracking_cnt(0) {
+        tracking_cnt(0),
+        last_yaw(0), last_pitch(0),
+        sum_yaw(0), sum_pitch(0) {
 }
 
 void ArmorFinder::run(cv::Mat &src) {
@@ -67,7 +69,7 @@ void ArmorFinder::run(cv::Mat &src) {
                 if ((target_box.rect & cv::Rect2d(0, 0, 640, 480)) == target_box.rect) { // 判断装甲板区域是否脱离图像区域
                     if (!classifier) {                                          /* 如果分类器不可用 */
                         cv::Mat roi = src(target_box.rect).clone(), roi_gray;  /* 就使用装甲区域亮点数判断是否跟丢 */
-                        cv::cvtColor(roi, roi_gray, CV_RGB2GRAY);
+                        cv::cvtColor(roi, roi_gray, cv::COLOR_RGB2GRAY);
                         cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);
                         contour_area = cv::countNonZero(roi_gray);
                     }
@@ -75,6 +77,9 @@ void ArmorFinder::run(cv::Mat &src) {
                     tracker->init(src, target_box.rect);
                     state = TRACKING_STATE;
                     tracking_cnt = 0;
+                    last_yaw = target_box.rect.x + target_box.rect.width / 2.0 - IMAGE_CENTER_X;
+                    last_pitch = target_box.rect.y + target_box.rect.height / 2.0 - IMAGE_CENTER_Y;
+                    sum_yaw = sum_pitch = 0;
                     LOGM(STR_CTR(WORD_LIGHT_CYAN, "into track"));
                 }
             }
@@ -82,6 +87,8 @@ void ArmorFinder::run(cv::Mat &src) {
         case TRACKING_STATE:
             if (!stateTrackingTarget(src) || ++tracking_cnt > 100) {    // 最多追踪100帧图像
                 state = SEARCHING_STATE;
+                last_yaw = last_pitch = 0;
+                sum_yaw = sum_pitch = 0;
                 LOGM(STR_CTR(WORD_LIGHT_YELLOW, "into search!"));
             }
             break;
@@ -93,6 +100,11 @@ end:
     if(is_anti_top) { // 判断当前是否为反陀螺模式
         antiTop();
     }else if(target_box.rect != cv::Rect2d()) {
+        if (last_box.rect == cv::Rect2d()) {
+            sum_yaw = sum_pitch = 0;
+            last_yaw = target_box.rect.x + target_box.rect.width / 2.0 - IMAGE_CENTER_X;
+            last_pitch = target_box.rect.y + target_box.rect.height / 2.0 - IMAGE_CENTER_Y;
+        }
         anti_top_cnt = 0;
         time_seq.clear();
         angle_seq.clear();

armor/src/armor_finder/find/find_armor_box.cpp

@@ -156,6 +156,7 @@ bool ArmorFinder::findArmorBox(const cv::Mat &src, ArmorBox &box) {
         for (auto &one_box : armor_boxes) {
             if (one_box.id != 0) {
                 box = one_box;
+                break;
             }
         }
         if (save_labelled_boxes) {

armor/src/armor_finder/find/find_light_blobs.cpp

@@ -83,11 +83,11 @@ bool ArmorFinder::findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
     }else{
         light_threshold = 200;
     }
-    cv::threshold(color_channel, src_bin_light, light_threshold, 255, CV_THRESH_BINARY); // 二值化对应通道
+    cv::threshold(color_channel, src_bin_light, light_threshold, 255, cv::THRESH_BINARY); // 二值化对应通道
     if (src_bin_light.empty()) return false;
     imagePreProcess(src_bin_light);                                  // 开闭运算
 
-    cv::threshold(color_channel, src_bin_dim, 140, 255, CV_THRESH_BINARY); // 二值化对应通道
+    cv::threshold(color_channel, src_bin_dim, 140, 255, cv::THRESH_BINARY); // 二值化对应通道
     if (src_bin_dim.empty()) return false;
     imagePreProcess(src_bin_dim);                                  // 开闭运算
 
@@ -100,8 +100,8 @@ bool ArmorFinder::findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
     std::vector<std::vector<cv::Point>> light_contours_light, light_contours_dim;
     LightBlobs light_blobs_light, light_blobs_dim;
     std::vector<cv::Vec4i> hierarchy_light, hierarchy_dim;
-    cv::findContours(src_bin_light, light_contours_light, hierarchy_light, CV_RETR_CCOMP, CV_CHAIN_APPROX_NONE);
-    cv::findContours(src_bin_dim, light_contours_dim, hierarchy_dim, CV_RETR_CCOMP, CV_CHAIN_APPROX_NONE);
+    cv::findContours(src_bin_light, light_contours_light, hierarchy_light, cv::RETR_CCOMP, cv::CHAIN_APPROX_NONE);
+    cv::findContours(src_bin_dim, light_contours_dim, hierarchy_dim, cv::RETR_CCOMP, cv::CHAIN_APPROX_NONE);
     for (int i = 0; i < light_contours_light.size(); i++) {
         if (hierarchy_light[i][2] == -1) {
             cv::RotatedRect rect = cv::minAreaRect(light_contours_light[i]);

armor/src/armor_finder/send_target/send_target.cpp

@@ -5,40 +5,58 @@
 #include <armor_finder/armor_finder.h>
 #include <config/setconfig.h>
 #include <log.h>
+#include <string>
+#include <cstdio>
 
-static bool sendTarget(Serial &serial, double x, double y, double z, uint16_t shoot_delay) {
-    static short x_tmp, y_tmp, z_tmp;
-    uint8_t buff[10];
+// ANGLE_SCALE: 角度单位换算系数。发出的整数 = yaw_deg / ANGLE_SCALE
+// 例: 1.0f → 单位为度; 0.01f → 单位为厘度(精度更高)
+static constexpr float ANGLE_SCALE = 1.0f;
 
+static bool sendTarget(Serial &serial, double yaw_deg, double pitch_deg, double dist,
+                       uint16_t shoot_delay, char type = 'r') {
+    // static short x_tmp, y_tmp, z_tmp;
+    // uint8_t buff[10];
 #ifdef WITH_COUNT_FPS
     static time_t last_time = time(nullptr);
     static int fps;
     time_t t = time(nullptr);
     if (last_time != t) {
         last_time = t;
-        cout << "Armor: fps:" << fps << ", (" << x << "," << y << "," << z << ")" << endl;
+        cout << "Armor: fps:" << fps << ", yaw=" << yaw_deg
+             << " pitch=" << pitch_deg << " dist=" << dist << endl;
         fps = 0;
     }
     fps += 1;
 #endif
 
-    x_tmp = static_cast<short>(x * (32768 - 1) / 100);
-    y_tmp = static_cast<short>(y * (32768 - 1) / 100);
-    z_tmp = static_cast<short>(z * (32768 - 1) / 1000);
+    // ---- 新格式: 字符串帧 ----
+    // 格式: "s <yaw_int> <pitch_int> <dist> <shoot_delay> e\n"
+    int16_t yaw_tmp   = static_cast<int16_t>(yaw_deg   / ANGLE_SCALE);
+    int16_t pitch_tmp = static_cast<int16_t>(pitch_deg / ANGLE_SCALE);
+    char buf[64];
+    std::snprintf(buf, sizeof(buf), "s %d %d %.1f %u e\n",
+                  (int)yaw_tmp, (int)pitch_tmp, dist, (unsigned)shoot_delay);
+    std::string frame(buf);
+    return serial.WriteData(reinterpret_cast<const uint8_t*>(frame.data()), frame.size());
 
-    buff[0] = 's';
-    buff[1] = static_cast<char>((x_tmp >> 8) & 0xFF);
-    buff[2] = static_cast<char>((x_tmp >> 0) & 0xFF);
-    buff[3] = static_cast<char>((y_tmp >> 8) & 0xFF);
-    buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF);
-    buff[5] = static_cast<char>((z_tmp >> 8) & 0xFF);
-    buff[6] = static_cast<char>((z_tmp >> 0) & 0xFF);
-    buff[7] = static_cast<char>((shoot_delay >> 8) & 0xFF);
-    buff[8] = static_cast<char>((shoot_delay >> 0) & 0xFF);
-    buff[9] = 'e';
-//    if(buff[7]<<8 | buff[8])
-//        cout << (buff[7]<<8 | buff[8]) << endl;
-    return serial.WriteData(buff, sizeof(buff));
+
+    // ---- 原始二进制打包（已注释）----
+    // static short x_tmp, y_tmp, z_tmp;
+    // uint8_t buff[10];
+    // x_tmp = static_cast<short>(yaw_deg   * (32768 - 1) / 100);
+    // y_tmp = static_cast<short>(pitch_deg * (32768 - 1) / 100);
+    // z_tmp = static_cast<short>(dist      * (32768 - 1) / 1000);
+    // buff[0] = 's';
+    // buff[1] = static_cast<char>((x_tmp >> 8) & 0xFF);
+    // buff[2] = static_cast<char>((x_tmp >> 0) & 0xFF);
+    // buff[3] = static_cast<char>((y_tmp >> 8) & 0xFF);
+    // buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF);
+    // buff[5] = static_cast<char>((z_tmp >> 8) & 0xFF);
+    // buff[6] = static_cast<char>((z_tmp >> 0) & 0xFF);
+    // buff[7] = static_cast<char>((shoot_delay >> 8) & 0xFF);
+    // buff[8] = static_cast<char>((shoot_delay >> 0) & 0xFF);
+    // buff[9] = 'e';
+    // return serial.WriteData(buff, sizeof(buff));
 }
 
 bool ArmorFinder::sendBoxPosition(uint16_t shoot_delay) {
@@ -49,6 +67,28 @@ bool ArmorFinder::sendBoxPosition(uint16_t shoot_delay) {
     auto rect = target_box.rect;
     double dx = rect.x + rect.width / 2 - IMAGE_CENTER_X;
     double dy = rect.y + rect.height / 2 - IMAGE_CENTER_Y;
+
+    // PID
+    #define MAX_I 100 // 这里的数值可以根据实际调试情况进一步微调
+    sum_yaw += dx;
+    sum_pitch += dy;
+    sum_yaw = (sum_yaw > MAX_I) ? MAX_I : (sum_yaw < -MAX_I ? -MAX_I : sum_yaw);
+    sum_pitch = (sum_pitch > MAX_I) ? MAX_I : (sum_pitch < -MAX_I ? -MAX_I : sum_pitch);
+
+    float yaw_I_component = YAW_AIM_KI * sum_yaw;
+    float pitch_I_component = PITCH_AIM_KI * sum_pitch;
+
+    double tmp_yaw = dx;
+    double tmp_pitch = dy;
+    dx = YAW_AIM_KP * dx + YAW_AIM_KI * sum_yaw +
+                   YAW_AIM_KD * (dx - last_yaw);
+    dy = PITCH_AIM_KP * dy + PITCH_AIM_KI * sum_pitch +
+                     PITCH_AIM_KD * (dy - last_pitch);
+
+    last_yaw = tmp_yaw;
+    last_pitch = tmp_pitch;
+    //
+
     double yaw = atan(dx / FOCUS_PIXAL) * 180 / PI;
     double pitch = atan(dy / FOCUS_PIXAL) * 180 / PI;
     double dist = DISTANCE_HEIGHT / rect.height;

armor/src/armor_finder/tracking_state/tracking_state.cpp

@@ -8,13 +8,13 @@
 #include <show_images/show_images.h>
 
 bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
-    auto pos = target_box.rect;
+    cv::Rect pos(target_box.rect);
     if(!tracker->update(src, pos)){ // 使用KCFTracker进行追踪
         target_box = ArmorBox();
         LOGW("Track fail!");
         return false;
     }
-    if((pos & cv::Rect2d(0, 0, 640, 480)) != pos){
+    if((cv::Rect2d(pos) & cv::Rect2d(0, 0, 640, 480)) != cv::Rect2d(pos)){
         target_box = ArmorBox();
         LOGW("Track out range!");
         return false;
@@ -52,7 +52,7 @@ bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
             }
         }else{ //　分类器不可用，使用常规方法判断
             cv::Mat roi_gray;
-            cv::cvtColor(roi, roi_gray, CV_RGB2GRAY);
+            cv::cvtColor(roi, roi_gray, cv::COLOR_RGB2GRAY);
             cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);
             contour_area = cv::countNonZero(roi_gray);
             if(abs(cv::countNonZero(roi_gray) - contour_area) > contour_area * 0.3){

armor/src/serialComm.cpp

@@ -0,0 +1,127 @@
+#include "serialComm.hpp"
+#include <cstring>
+#include <cstdio>
+
+SerialComm::SerialComm() : m_isOpen(false) {
+    std::memset(m_portName, 0, sizeof(m_portName));
+
+    m_serialPort.init(
+        "",
+        SerialConfig::BAUD_RATE,
+        SerialConfig::PARITY_TYPE,
+        SerialConfig::DATA_BITS,
+        SerialConfig::STOP_BITS,
+        SerialConfig::FLOW_CTRL,
+        SerialConfig::READ_TIMEOUT_MS
+    );
+}
+
+SerialComm::~SerialComm() {
+    closePort();
+}
+
+bool SerialComm::findFirstTtyUSB() {
+    std::vector<SerialPortInfo> portInfos = CSerialPortInfo::availablePortInfos();
+
+    for (const auto& info : portInfos) {
+        const char* portStr = info.portName;
+        if (std::strstr(portStr, "ttyCH341USB") != nullptr) {
+            std::strncpy(m_portName, portStr, sizeof(m_portName) - 1);
+            m_portName[sizeof(m_portName) - 1] = '\0';
+            printf("[I][SERIAL]: ttyUSB device found: %s\n", m_portName);
+            return true;
+        }
+    }
+
+    return false;
+}
+
+bool SerialComm::openPort() {
+    if (std::strlen(m_portName) == 0) {
+        printf("[E][Serial]: Port name is empty, call findFirstTtyUSB() first\n");
+        return false;
+    }
+
+    m_serialPort.init(
+        m_portName,
+        SerialConfig::BAUD_RATE,
+        SerialConfig::PARITY_TYPE,
+        SerialConfig::DATA_BITS,
+        SerialConfig::STOP_BITS,
+        SerialConfig::FLOW_CTRL,
+        SerialConfig::READ_TIMEOUT_MS
+    );
+
+    if (!m_serialPort.open()) {
+        printf("[E][Serial]: Failed to open port %s\n", m_portName);
+        printf("[E][Serial]: Error code: %d\n", m_serialPort.getLastError());
+        m_isOpen = false;
+        return false;
+    }
+
+    m_isOpen = true;
+    printf("[I][Serial]: Port opened successfully: %s\n", m_portName);
+    printf("[I][Serial]:   Baud rate: %d\n", SerialConfig::BAUD_RATE);
+    printf("[I][Serial]:   Data bits: 8\n");
+    printf("[I][Serial]:   Stop bits: 1\n");
+    printf("[I][Serial]:   Parity: None\n");
+
+    return true;
+}
+
+void SerialComm::closePort() {
+    if (m_isOpen) {
+        m_serialPort.close();
+        m_isOpen = false;
+        printf("[I][Serial]: Port closed: %s\n", m_portName);
+    }
+}
+
+bool SerialComm::sendData(const char* data, size_t length) {
+    return sendData(reinterpret_cast<const uint8_t*>(data), length);
+}
+
+bool SerialComm::sendData(const uint8_t* data, size_t length) {
+    if (!m_isOpen) {
+        printf("[E][Serial]: Port not open\n");
+        return false;
+    }
+
+    int bytesWritten = m_serialPort.writeData(data, length);
+
+    if (bytesWritten > 0) {
+        printf("[I][Serial]: Sent %d bytes\n", bytesWritten);
+        return true;
+    } else {
+        printf("[E][Serial]: Failed to send data\n");
+        return false;
+    }
+}
+
+int SerialComm::receiveData(char* buffer, size_t maxLength) {
+    return receiveData(reinterpret_cast<uint8_t*>(buffer), maxLength);
+}
+
+int SerialComm::receiveData(uint8_t* buffer, size_t maxLength) {
+    if (!m_isOpen) {
+        printf("[E][Serial]: Port not open\n");
+        return -1;
+    }
+
+    int bytesRead = m_serialPort.readData(buffer, maxLength);
+
+    if (bytesRead > 0) {
+        printf("[I][Serial]: Received %d bytes\n", bytesRead);
+    }
+
+    return bytesRead;
+}
+
+void SerialComm::listAllPorts() {
+    std::vector<SerialPortInfo> portInfos = CSerialPortInfo::availablePortInfos();
+
+    printf("[I][Serial]: Available ports:\n");
+    for (const auto& info : portInfos) {
+        printf("[I][Serial]:   - %s\n", info.portName);
+    }
+}

armor/src/unifiedManager.cpp

@@ -0,0 +1,92 @@
+#include "unifiedManager.hpp"
+#include <cstdio>
+
+UnifiedDeviceManager::UnifiedDeviceManager(int retryIntervalMs)
+    : m_serial(std::make_unique<SerialComm>())
+    , m_serialConnected(false)
+    , m_shouldStop(false)
+    , m_retryIntervalMs(retryIntervalMs)
+{
+    printf("[I][Managr]: Unified device manager created\n");
+}
+
+UnifiedDeviceManager::~UnifiedDeviceManager() {
+    stop();
+}
+
+void UnifiedDeviceManager::serialReconnectThreadFunc() {
+    printf("[I][Managr]: Serial reconnect thread started\n");
+
+    while (!m_shouldStop.load()) {
+        if (!m_serialConnected.load()) {
+            printf("[I][Managr]: Attempting to connect serial port...\n");
+
+            std::lock_guard<std::mutex> lock(m_serialMutex);
+
+            if (m_serial->findFirstTtyUSB() && m_serial->openPort()) {
+                m_serialConnected.store(true);
+                printf("[I][Managr]: Serial port connected successfully\n");
+            } else {
+                printf("[W][Managr]: Serial connection failed, retry in %dms\n",
+                       m_retryIntervalMs);
+            }
+        }
+
+        std::this_thread::sleep_for(std::chrono::milliseconds(m_retryIntervalMs));
+    }
+
+    printf("[I][Managr]: Serial reconnect thread stopped\n");
+}
+
+void UnifiedDeviceManager::start() {
+    printf("[I][Managr]: Starting unified device manager\n");
+
+    m_shouldStop.store(false);
+
+    if (!m_serialReconnectThread.joinable()) {
+        m_serialReconnectThread = std::thread(&UnifiedDeviceManager::serialReconnectThreadFunc, this);
+    }
+
+    printf("[I][Managr]: Unified device manager started\n");
+}
+
+void UnifiedDeviceManager::stop() {
+    printf("[I][Managr]: Stopping unified device manager\n");
+
+    m_shouldStop.store(true);
+
+    if (m_serialReconnectThread.joinable()) {
+        m_serialReconnectThread.join();
+
+        std::lock_guard<std::mutex> lock(m_serialMutex);
+        m_serial->closePort();
+        m_serialConnected.store(false);
+    }
+
+    printf("[I][Managr]: Unified device manager stopped\n");
+}
+
+bool UnifiedDeviceManager::sendData(const char* data, size_t length) {
+    if (!m_serialConnected.load()) {
+        return false;
+    }
+
+    std::lock_guard<std::mutex> lock(m_serialMutex);
+
+    if (!m_serial->sendData(data, length)) {
+        m_serialConnected.store(false);
+        printf("[W][Managr]: Serial send failed, marked as disconnected\n");
+        return false;
+    }
+
+    return true;
+}
+
+int UnifiedDeviceManager::receiveData(uint8_t* buffer, size_t maxLength) {
+    if (!m_serialConnected.load()) {
+        return -1;
+    }
+
+    std::lock_guard<std::mutex> lock(m_serialMutex);
+    return m_serial->receiveData(buffer, maxLength);
+}

energy/src/energy/find/energy_finder.cpp

@@ -21,12 +21,12 @@ int Energy::findFans(const cv::Mat &src) {
     static Mat src_bin;
     src_bin = src.clone();
     if (src.type() == CV_8UC3) {
-        cvtColor(src_bin, src_bin, CV_BGR2GRAY);//若读取三通道视频文件，需转换为单通道
+        cvtColor(src_bin, src_bin, cv::COLOR_BGR2GRAY);//若读取三通道视频文件，需转换为单通道
     }
     std::vector<vector<Point> > fan_contours;
     FanStruct(src_bin);//图像膨胀，防止图像断开并更方便寻找
     if (show_process)imshow("fan struct", src_bin);
-    findContours(src_bin, fan_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
+    findContours(src_bin, fan_contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
 
     for (auto &fan_contour : fan_contours) {
         if (!isValidFanContour(src_bin, fan_contour)) {
@@ -54,16 +54,16 @@ int Energy::findArmors(const cv::Mat &src) {
     static Mat src_bin;
     src_bin = src.clone();
     if (src.type() == CV_8UC3) {
-        cvtColor(src_bin, src_bin, CV_BGR2GRAY);//若读取三通道视频文件，需转换为单通道
+        cvtColor(src_bin, src_bin, cv::COLOR_BGR2GRAY);//若读取三通道视频文件，需转换为单通道
     }
     std::vector<vector<Point> > armor_contours;
     std::vector<vector<Point> > armor_contours_external;//用总轮廓减去外轮廓，只保留内轮廓，除去流动条的影响。
 
     ArmorStruct(src_bin);//图像膨胀，防止图像断开并更方便寻找
-    findContours(src_bin, armor_contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
+    findContours(src_bin, armor_contours, cv::RETR_LIST, cv::CHAIN_APPROX_NONE);
     if (show_process)imshow("armor struct", src_bin);
 
-    findContours(src_bin, armor_contours_external, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
+    findContours(src_bin, armor_contours_external, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
     for (int i = 0; i < armor_contours_external.size(); i++)//去除外轮廓
     {
         unsigned long external_contour_size = armor_contours_external[i].size();
@@ -103,12 +103,12 @@ bool Energy::findCenterR(const cv::Mat &src) {
     static Mat src_bin;
     src_bin = src.clone();
     if (src.type() == CV_8UC3) {
-        cvtColor(src_bin, src_bin, CV_BGR2GRAY);
+        cvtColor(src_bin, src_bin, cv::COLOR_BGR2GRAY);
     }
     std::vector<vector<Point> > center_R_contours;
     CenterRStruct(src_bin);
     if (show_process)imshow("R struct", src_bin);
-    findContours(src_bin, center_R_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
+    findContours(src_bin, center_R_contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
     for (auto &center_R_contour : center_R_contours) {
         if (!isValidCenterRContour(center_R_contour)) {
             continue;
@@ -139,13 +139,13 @@ bool Energy::findFlowStripFan(const cv::Mat &src) {
     src_bin = src.clone();
     src_copy = src.clone();
     if (src.type() == CV_8UC3) {
-        cvtColor(src_bin, src_bin, CV_BGR2GRAY);//若读取三通道视频文件，需转换为单通道
+        cvtColor(src_bin, src_bin, cv::COLOR_BGR2GRAY);//若读取三通道视频文件，需转换为单通道
     }
     std::vector<vector<Point> > flow_strip_fan_contours;
     FlowStripFanStruct(src_bin);//图像膨胀，防止图像断开并更方便寻找
     if (show_process)imshow("flow strip fan struct", src_bin);
 
-    findContours(src_bin, flow_strip_fan_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
+    findContours(src_bin, flow_strip_fan_contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
     std::vector<cv::RotatedRect> candidate_flow_strip_fans;
 
     for (auto &flow_strip_fan_contour : flow_strip_fan_contours) {
@@ -175,7 +175,7 @@ bool Energy::findFlowStrip(const cv::Mat &src) {
 
     if (src_bin.type() == CV_8UC1) // 黑白图像
     {
-        cvtColor(src_bin, src_bin, COLOR_GRAY2RGB);
+        cvtColor(src_bin, src_bin, cv::COLOR_GRAY2RGB);
 
     }
     std::vector<cv::RotatedRect> candidate_target_armors = target_armors;
@@ -189,13 +189,13 @@ bool Energy::findFlowStrip(const cv::Mat &src) {
         }
     }
 
-    cvtColor(src_bin, src_bin, CV_BGR2GRAY);//若读取三通道视频文件，需转换为单通道
+    cvtColor(src_bin, src_bin, cv::COLOR_BGR2GRAY);//若读取三通道视频文件，需转换为单通道
 
     FlowStripStruct(src_bin);//图像膨胀，防止图像断开并更方便寻找
     if (show_process)imshow("flow strip struct", src_bin);
 
     std::vector<vector<Point> > flow_strip_contours;
-    findContours(src_bin, flow_strip_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
+    findContours(src_bin, flow_strip_contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
 
     for (auto candidate_flow_strip_fan: flow_strip_fans) {
         for (auto &flow_strip_contour : flow_strip_contours) {
@@ -261,7 +261,7 @@ bool Energy::findFlowStripWeak(const cv::Mat &src) {
 
     if (src_bin.type() == CV_8UC1) // 黑白图像
     {
-        cvtColor(src_bin, src_bin, COLOR_GRAY2RGB);
+        cvtColor(src_bin, src_bin, cv::COLOR_GRAY2RGB);
 
     }
     std::vector<cv::RotatedRect> candidate_armors = armors;
@@ -275,13 +275,13 @@ bool Energy::findFlowStripWeak(const cv::Mat &src) {
         }
     }
 
-    cvtColor(src_bin, src_bin, CV_BGR2GRAY);//若读取三通道视频文件，需转换为单通道
+    cvtColor(src_bin, src_bin, cv::COLOR_BGR2GRAY);//若读取三通道视频文件，需转换为单通道
 
     FlowStripStruct(src_bin);//图像膨胀，防止图像断开并更方便寻找
     if (show_process)imshow("weak struct", src_bin);
 
     std::vector<vector<Point> > flow_strip_contours;
-    findContours(src_bin, flow_strip_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
+    findContours(src_bin, flow_strip_contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
 
     for (auto &flow_strip_contour : flow_strip_contours) {
         if (!isValidFlowStripContour(flow_strip_contour)) {
@@ -336,5 +336,3 @@ bool Energy::findCenterROI(const cv::Mat &src) {
     return true;
 
 }
-
-

main.cpp

@@ -20,6 +20,7 @@
 #include <options.h>
 #include <additions.h>
 #include <config/setconfig.h>
+#include "serialManager.hpp"
 
 #define DO_NOT_CNT_TIME
 
@@ -41,7 +42,8 @@ McuData mcu_data = {    // 单片机端回传结构体
 
 WrapperHead *video = nullptr;    // 云台摄像头视频源
 
-Serial serial(115200);                  // 串口对象
+Serial serial(115200);                  // 串口对象（旧版，供 armor_finder/energy 使用）
+SerialManager serialManager;            // TTY 串口自动恢复管理器
 uint8_t last_state = ARMOR_STATE;     // 上次状态，用于初始化
 // 自瞄主程序对象
 ArmorFinder armor_finder(mcu_data.enemy_color, serial, PROJECT_DIR"/tools/para/", mcu_data.anti_top);
@@ -50,6 +52,7 @@ Energy energy(serial, mcu_data.enemy_color);
 
 int main(int argc, char *argv[]) {
     processOptions(argc, argv);             // 处理命令行参数
+    serialManager.start();                  // 启动 TTY 串口自动重连线程
     thread receive(uartReceive, &serial);   // 开启串口接收线程
 
     int from_camera = 1;                    // 根据条件选择视频源

others/armor.Config

@@ -5,17 +5,17 @@ resolution :
   image_size : 
   {
     iIndex = 1;
-    acDescription = "640X480 ROI";
+    acDescription = "1280X1024 ROI";
     uBinSumMode = 0;
     uBinAverageMode = 0;
     uSkipMode = 0;
     uResampleMask = 0;
     iHOffsetFOV = 56;
     iVOffsetFOV = 0;
-    iWidthFOV = 640;
-    iHeightFOV = 480;
-    iWidth = 640;
-    iHeight = 480;
+    iWidthFOV = 1280;
+    iHeightFOV = 1024;
+    iWidth = 1280;
+    iHeight = 1024;
     iWidthZoomHd = 0;
     iHeightZoomHd = 0;
     iWidthZoomSw = 0;

others/include/camera/camera_wrapper.h

@@ -6,7 +6,7 @@
 #define _CAMERA_WRAPPER_H_
 
 #include <additions.h>
-#include <opencv2/core/core.hpp>
+#include <opencv2/core.hpp>
 #include <camera/wrapper_head.h>
 
 #ifdef Windows
@@ -19,9 +19,9 @@ class CameraWrapper: public WrapperHead {
     friend void cameraCallback(CameraHandle hCamera, BYTE *pFrameBuffer, tSdkFrameHead* pFrameHead,PVOID pContext);
 private:
     const std::string name;
-    int mode;
+    //int mode;
 
-    bool init_done;
+    //bool init_done;
 
     unsigned char* rgb_buffer;
     int camera_cnts;
@@ -33,7 +33,7 @@ private:
     tSdkCameraCapbility tCapability;
     tSdkFrameHead frame_info;
     BYTE *pby_buffer;
-    IplImage* iplImage;
+    cv::Mat image_header;
     int channel;
 
     RoundQueue<cv::Mat, 2> src_queue;
@@ -41,6 +41,9 @@ public:
     int gain;
     int exposure;
     
+    int mode;
+    bool init_done;
+
     CameraWrapper(int exposure, int gain, int camera_mode=1, const std::string &n="NULL");
     ~CameraWrapper() final;
 

others/include/config/setconfig.h

@@ -4,6 +4,7 @@
 #ifndef _SETCONFIG_H_
 #define _SETCONFIG_H_
 
+#define WITH_CONFIG
 
 #ifdef WITH_CONFIG
     #include <config/config.h>
@@ -40,7 +41,7 @@
 #endif
 
 #ifndef YAW_AIM_KD
-    #define YAW_AIM_KD (0.4)
+    #define YAW_AIM_KD (0.1)
 #endif
 #ifndef YAW_AIM_KP
     #define YAW_AIM_KP (0.75)
@@ -49,13 +50,13 @@
     #define YAW_AIM_KI (0.01)
 #endif
 #ifndef PITCH_AIM_KD
-    #define PITCH_AIM_KD (0.4)
+    #define PITCH_AIM_KD (0)
 #endif
 #ifndef PITCH_AIM_KP
-    #define PITCH_AIM_KP (0.75)
+    #define PITCH_AIM_KP (0)
 #endif
 #ifndef PITCH_AIM_KI
-    #define PITCH_AIM_KI (0.01)
+    #define PITCH_AIM_KI (0)
 #endif
 
 #ifndef RED_COMPENSATE_YAW

others/include/constants.h

@@ -19,6 +19,6 @@
 
 #define FOCUS_PIXAL_8MM  (1488)
 #define FOCUS_PIXAL_5MM  (917)
-#define FOCUS_PIXAL      FOCUS_PIXAL_5MM
+#define FOCUS_PIXAL      FOCUS_PIXAL_8MM
 
 #endif /* _CONSTANTS_H */

others/include/log.h

@@ -32,6 +32,7 @@
 
 #include <stdio.h>
 #include <systime.h>
+#include <iostream>
 
 /************** Define the control code *************/
 #define START_CTR           "\033[0"

others/src/additions.cpp

@@ -36,9 +36,9 @@ void uartReceive(Serial *pSerial) {
         pSerial->ReadData((uint8_t *) buffer, sizeof(mcu_data)+1);
         if (buffer[sizeof(mcu_data)] == '\n') {
             memcpy(&mcu_data, buffer, sizeof(mcu_data));
-//            LOGM("Get, state:%c, mark:%d!", mcu_data.state, (int) mcu_data.mark);
-//            LOGM("Get yaw: %f, pitch: %f!", mcu_data.curr_yaw, mcu_data.curr_pitch);
-//            LOGM("Get delta x: %d, delta y: %d!", mcu_data.delta_x, mcu_data.delta_y);
+           LOGM("Get, state:%c, mark:%d!", mcu_data.state, (int) mcu_data.mark);
+           LOGM("Get yaw: %f, pitch: %f!", mcu_data.curr_yaw, mcu_data.curr_pitch);
+            LOGM("Get delta x: %d, delta y: %d!", mcu_data.delta_x, mcu_data.delta_y);
  //           static int t = time(nullptr);
 //            static int cnt = 0;
 //            if(time(nullptr) > t){
@@ -77,8 +77,12 @@ bool checkReconnect(bool is_camera_connect) {
     if (!is_camera_connect) {
         int curr_gain = ((CameraWrapper* )video)->gain;
         int curr_exposure = ((CameraWrapper* )video)->exposure;
+        int curr_mode = ((CameraWrapper* )video)->mode; // 获取原始模式
+        
         delete video;
-        video = new CameraWrapper(curr_exposure, curr_gain, 0/*, "armor"*/);
+        std::this_thread::sleep_for(std::chrono::milliseconds(500)); // 等待硬件释放
+        video = new CameraWrapper(curr_exposure, curr_gain, curr_mode/*, "armor"*/);
+        //video = new CameraWrapper(curr_exposure, curr_gain, 0/*, "armor"*/);
         is_camera_connect = video->init();
     }
     return is_camera_connect;
@@ -103,14 +107,14 @@ void extract(cv::Mat &src) {//图像预处理，将视频切成640×480的大小
     if (src.empty()) return;
     float length = static_cast<float>(src.cols);
     float width = static_cast<float>(src.rows);
-    if (length / width > 640.0 / 480.0) {
-        length *= 480.0 / width;
-        resize(src, src, cv::Size(length, 480));
-        src = src(Rect((length - 640) / 2, 0, 640, 480));
+    if (length / width > 1280.0 / 1024.0) {
+        length *= 1024 / width;
+        resize(src, src, cv::Size(length, 1024));
+        src = src(Rect((length - 1280) / 2, 0, 1280, 1024));
     } else {
-        width *= 640.0 / length;
-        resize(src, src, cv::Size(640, width));
-        src = src(Rect(0, (width - 480) / 2, 640, 480));
+        width *= 1280.0 / length;
+        resize(src, src, cv::Size(1280, width));
+        src = src(Rect(0, (width - 1024) / 2, 1280, 1024));
     }
 }
 

others/src/camera/camera_wrapper.cpp

@@ -17,7 +17,6 @@ CameraWrapper::CameraWrapper(int exposure, int gain, int camera_mode, const std:
         mode(camera_mode),
         camera_cnts(2),
         camera_status(-1),
-        iplImage(nullptr),
         rgb_buffer(nullptr),
         channel(3),
         gain(gain),
@@ -27,9 +26,11 @@ CameraWrapper::CameraWrapper(int exposure, int gain, int camera_mode, const std:
 void cameraCallback(CameraHandle hCamera, BYTE *pFrameBuffer, tSdkFrameHead* pFrameHead,PVOID pContext){
     CameraWrapper *c = (CameraWrapper*)pContext;
     CameraImageProcess(hCamera, pFrameBuffer, c->rgb_buffer, pFrameHead);
-    auto iplImage = cvCreateImageHeader(cvSize(pFrameHead->iWidth, pFrameHead->iHeight), IPL_DEPTH_8U, c->channel);
-    cvSetData(iplImage, c->rgb_buffer, pFrameHead->iWidth * c->channel);  //此处只是设置指针，无图像块数据拷贝，不需担心转换效率
-    c->src_queue.push(cv::cvarrToMat(iplImage).clone());
+    // 使用 cv::Mat 替代 IplImage
+    cv::Mat img(pFrameHead->iHeight, pFrameHead->iWidth, 
+                c->channel == 3 ? CV_8UC3 : CV_8UC1, 
+                c->rgb_buffer, pFrameHead->iWidth * c->channel);
+    c->src_queue.push(img.clone());
 }
 
 bool CameraWrapper::init() {
@@ -37,6 +38,7 @@ bool CameraWrapper::init() {
     int camera_enumerate_device_status = CameraEnumerateDevice(camera_enum_list, &camera_cnts);
     if (camera_enumerate_device_status != CAMERA_STATUS_SUCCESS) {
         LOGE("CameraEnumerateDevice fail with %d!", camera_enumerate_device_status);
+        return false;
     }
     if (camera_cnts == 0) {
         LOGE("No camera device detected!");
@@ -134,15 +136,9 @@ bool CameraWrapper::read(cv::Mat &src) {
 
 bool CameraWrapper::readRaw(cv::Mat &src) {
     if (CameraGetImageBuffer(h_camera, &frame_info, &pby_buffer, 500) == CAMERA_STATUS_SUCCESS) {
-        if (iplImage) {
-            cvReleaseImageHeader(&iplImage);
-        }
-
-        iplImage = cvCreateImageHeader(cvSize(frame_info.iWidth, frame_info.iHeight), IPL_DEPTH_8U, 1);
-
-        cvSetData(iplImage, pby_buffer, frame_info.iWidth);  //此处只是设置指针，无图像块数据拷贝，不需担心转换效率
-
-        src = cv::cvarrToMat(iplImage).clone();
+        // 使用 cv::Mat 替代 IplImage
+        cv::Mat img(frame_info.iHeight, frame_info.iWidth, CV_8UC1, pby_buffer, frame_info.iWidth);
+        src = img.clone();
 
         //在成功调用CameraGetImageBuffer后，必须调用CameraReleaseImageBuffer来释放获得的buffer。
         //否则再次调用CameraGetImageBuffer时，程序将被挂起一直阻塞，直到其他线程中调用CameraReleaseImageBuffer来释放了buffer
@@ -156,16 +152,13 @@ bool CameraWrapper::readRaw(cv::Mat &src) {
 }
 
 bool CameraWrapper::readProcessed(cv::Mat &src) {
-//	cerr << "Get-1" << endl;
     if (CameraGetImageBuffer(h_camera, &frame_info, &pby_buffer, 500) == CAMERA_STATUS_SUCCESS) {
         CameraImageProcess(h_camera, pby_buffer, rgb_buffer,
                            &frame_info);  // this function is super slow, better not to use it.
-        if (iplImage) {
-            cvReleaseImageHeader(&iplImage);
-        }
-        iplImage = cvCreateImageHeader(cvSize(frame_info.iWidth, frame_info.iHeight), IPL_DEPTH_8U, channel);
-        cvSetData(iplImage, rgb_buffer, frame_info.iWidth * channel);  //此处只是设置指针，无图像块数据拷贝，不需担心转换效率
-        src = cv::cvarrToMat(iplImage).clone();
+        // 使用 cv::Mat 替代 IplImage
+        int mat_type = (channel == 3) ? CV_8UC3 : CV_8UC1;
+        cv::Mat img(frame_info.iHeight, frame_info.iWidth, mat_type, rgb_buffer, frame_info.iWidth * channel);
+        src = img.clone();
         //在成功调用CameraGetImageBuffer后，必须调用CameraReleaseImageBuffer来释放获得的buffer。
         //否则再次调用CameraGetImageBuffer时，程序将被挂起一直阻塞，直到其他线程中调用CameraReleaseImageBuffer来释放了buffer
         CameraReleaseImageBuffer(h_camera, pby_buffer);

others/src/options.cpp

@@ -6,19 +6,20 @@
 #include <log.h>
 #include <cstring>
 #include <map>
+#include <string>
 
-bool show_armor_box = false;
+bool show_armor_box = true;
 bool show_armor_boxes = false;
 bool show_light_blobs = false;
 bool show_origin = false;
-bool run_with_camera = false;
+bool run_with_camera = true;
 bool save_video = false;
 bool wait_uart = false;
 bool save_labelled_boxes = false;
 bool show_process = false;
 bool show_energy = false;
 bool save_mark = false;
-bool show_info = false;
+bool show_info = true;
 bool run_by_frame = false;
 
 // 使用map保存所有选项及其描述和操作，加快查找速度。

others/src/serial.cpp

@@ -177,11 +177,13 @@ bool Serial::ReadData(unsigned char *buffer,  unsigned int length) {
 #elif defined(Linux) || defined(Darwin)
 
 #include <string.h>
+#include <thread>
+#include <chrono>
 
 using namespace std;
 
 string get_uart_dev_name() {
-    FILE *ls = popen("ls /dev/ttyUSB* --color=never", "r");
+    FILE *ls = popen("ls /dev/ttyCH341USB* --color=never", "r");
     char name[20] = {0};
     fscanf(ls, "%s", name);
     return name;
@@ -189,17 +191,10 @@ string get_uart_dev_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));
+    LOGM("Waiting for serial port...");
+    while (!InitPort(nSpeed, nEvent, nBits, nStop))
+        std::this_thread::sleep_for(std::chrono::milliseconds(500));
     LOGM("Port set successfully!");
-    } else {
-        if (InitPort(nSpeed, nEvent, nBits, nStop)) {
-            LOGM("Port set successfully!");
-        } else {
-            LOGE("Port set fail!");
-        }
-    }
 }
 
 Serial::~Serial() {
@@ -228,18 +223,18 @@ bool Serial::InitPort(int nSpeed, char nEvent, int nBits, int nStop) {
 bool Serial::WriteData(const unsigned char *pData, unsigned int length) {
     int cnt = 0, curr = 0;
     if (fd <= 0) {
-        if(wait_uart){
-            InitPort(nSpeed, nEvent, nBits, nStop);
-        }
+        LOGE("Serial offline! Reconnecting...");
+        while (!InitPort(nSpeed, nEvent, nBits, nStop))
+            std::this_thread::sleep_for(std::chrono::milliseconds(500));
         return false;
     }
     while ((curr = write(fd, pData + cnt, length - cnt)) > 0 && (cnt += curr) < length);
     if (curr < 0) {
-        LOGE("Serial offline!");
+        LOGE("Serial write error! Reconnecting...");
         close(fd);
-        if (wait_uart) {
-            InitPort(nSpeed, nEvent, nBits, nStop);
-        }
+        fd = -1;
+        while (!InitPort(nSpeed, nEvent, nBits, nStop))
+            std::this_thread::sleep_for(std::chrono::milliseconds(500));
         return false;
     }
     return true;
@@ -249,11 +244,11 @@ 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 (curr < 0) {
-        LOGE("Serial offline!");
+        LOGE("Serial read error! Reconnecting...");
         close(fd);
-        if (wait_uart) {
-            InitPort(nSpeed, nEvent, nBits, nStop);
-        }
+        fd = -1;
+        while (!InitPort(nSpeed, nEvent, nBits, nStop))
+            std::this_thread::sleep_for(std::chrono::milliseconds(500));
         return false;
     }
     return true;

tools/tty-permission.sh

@@ -0,0 +1,3 @@
+#!/bin/sh
+
+sudo touch /etc/udev/rules.d/70-ttyusb.rules