·

CMakeLists.txt

@@ -1,7 +1,7 @@
-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}\\\"\"")

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/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) {
@@ -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/send_target/send_target.cpp

@@ -5,42 +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) {
+// ANGLE_SCALE: 角度单位换算系数。发出的整数 = yaw_deg / ANGLE_SCALE
-    static short x_tmp, y_tmp, z_tmp;
+// 例: 1.0f → 单位为度; 0.01f → 单位为厘度(精度更高)
-    uint8_t buff[10];
+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
 
-#define MINMAX(value, min, max) value = ((value) < (min)) ? (min) : ((value) > (max) ? (max) : (value))
+    // ---- 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());
 
-    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);
 
-    buff[0] = 's';
+    // ---- 原始二进制打包（已注释）----
-    buff[1] = static_cast<char>((x_tmp >> 8) & 0xFF);
+    // static short x_tmp, y_tmp, z_tmp;
-    buff[2] = static_cast<char>((x_tmp >> 0) & 0xFF);
+    // uint8_t buff[10];
-    buff[3] = static_cast<char>((y_tmp >> 8) & 0xFF);
+    // x_tmp = static_cast<short>(yaw_deg   * (32768 - 1) / 100);
-    buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF);
+    // y_tmp = static_cast<short>(pitch_deg * (32768 - 1) / 100);
-    buff[5] = static_cast<char>((z_tmp >> 8) & 0xFF);
+    // z_tmp = static_cast<short>(dist      * (32768 - 1) / 1000);
-    buff[6] = static_cast<char>((z_tmp >> 0) & 0xFF);
+    // buff[0] = 's';
-    buff[7] = static_cast<char>((shoot_delay >> 8) & 0xFF);
+    // buff[1] = static_cast<char>((x_tmp >> 8) & 0xFF);
-    buff[8] = static_cast<char>((shoot_delay >> 0) & 0xFF);
+    // buff[2] = static_cast<char>((x_tmp >> 0) & 0xFF);
-    buff[9] = 'e';
+    // buff[3] = static_cast<char>((y_tmp >> 8) & 0xFF);
-//    if(buff[7]<<8 | buff[8])
+    // buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF);
-//        cout << (buff[7]<<8 | buff[8]) << endl;
+    // buff[5] = static_cast<char>((z_tmp >> 8) & 0xFF);
-    return serial.WriteData(buff, sizeof(buff));
+    // 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) {
@@ -53,8 +69,12 @@ bool ArmorFinder::sendBoxPosition(uint16_t shoot_delay) {
     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;
 

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);
+}

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/include/config/setconfig.h

@@ -41,7 +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)

others/src/serial.cpp

@@ -177,6 +177,8 @@ bool Serial::ReadData(unsigned char *buffer,  unsigned int length) {
 #elif defined(Linux) || defined(Darwin)
 
 #include <string.h>
+#include <thread>
+#include <chrono>
 
 using namespace std;
 
@@ -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("Waiting for serial port...");
-        LOGM("Wait for serial be ready!");
+    while (!InitPort(nSpeed, nEvent, nBits, nStop))
-        while (!InitPort(nSpeed, nEvent, nBits, nStop));
+        std::this_thread::sleep_for(std::chrono::milliseconds(500));
-        LOGM("Port set successfully!");
+    LOGM("Port set successfully!");
-    } else {
-        if (InitPort(nSpeed, nEvent, nBits, nStop)) {
-            LOGM("Port set successfully!");
-        } else {
-            LOGE("Port set fail!");
-        }
-    }
 }
 
 Serial::~Serial() {
@@ -227,19 +222,19 @@ 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 (fd <= 0) {
-        if(wait_uart){
+        LOGE("Serial offline! Reconnecting...");
-            InitPort(nSpeed, nEvent, nBits, nStop);
+        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) {
+        fd = -1;
-            InitPort(nSpeed, nEvent, nBits, nStop);
+        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) {
+        fd = -1;
-            InitPort(nSpeed, nEvent, nBits, nStop);
+        while (!InitPort(nSpeed, nEvent, nBits, nStop))
-        }
+            std::this_thread::sleep_for(std::chrono::milliseconds(500));
         return false;
     }
     return true;