85 lines
1.7 KiB
C++
85 lines
1.7 KiB
C++
//
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// Created by sjturm on 19-5-17.
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//
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#ifndef _ADDITIONS_H_
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#define _ADDITIONS_H_
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#include <stdint.h>
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#include <systime.h>
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#include <serial.h>
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#include <opencv2/core.hpp>
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struct mcu_data {
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float curr_yaw;
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float curr_pitch;
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uint8_t state;
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uint8_t mark;
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uint8_t use_classifier;
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uint8_t enemy_color;
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int delta_x;
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int delta_y;
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};
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extern mcu_data mcuData;
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void uartReceive(Serial *pSerial);
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bool checkReconnect(bool is_camera_0_connect, bool is_camera_1_connect);
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bool checkReconnect(bool is_camera_connect);
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void saveVideos(const cv::Mat &gimbal_src, const cv::Mat &chassis_src);
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void saveVideos(const cv::Mat &gimbal_src);
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void showOrigin(const cv::Mat &gimbal_src, const cv::Mat &chassis_src);
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void showOrigin(const cv::Mat &gimbal_src);
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void extract(cv::Mat &gimbal_src, cv::Mat &chassis_src);
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void extract(cv::Mat &gimbal_src);
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float getTimeIntervalms(const systime &now, const systime &last);
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template<class type, int length>
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class RoundQueue {
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private:
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type data[length];
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int head;
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int tail;
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public:
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RoundQueue<type, length>() : head(0), tail(0) {};
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constexpr int size() const {
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return length;
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};
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bool empty() const {
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return head == tail;
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};
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void push(const type &obj) {
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data[head] = obj;
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head = (head + 1) % length;
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if (head == tail) {
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tail = (tail + 1) % length;
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}
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};
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bool pop(type &obj) {
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if (empty()) return false;
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obj = data[tail];
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tail = (tail + 1) % length;
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return true;
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};
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type &operator[](int idx) {
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while (tail + idx < 0) idx += length;
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return data[(tail + idx) % length];
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};
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};
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#endif /* _ADDITIONS_H_ */
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