串口 (#1)

CMakeLists.txt

@@ -16,36 +16,43 @@ include_directories(${OpenCV_INCLUDE_DIRS})
 link_libraries(${OpenCV_LIBS})
 
 #CUDA
-#find_package(CUDA)
-#if (${CUDA_FOUND})
-#    set(CUDA_SOURCE_PROPERTY_FORMAT OBJ)
-#    set(CUDA_SEPARABLE_COMPILATION ON)
-#    include_directories(${CUDA_INCLUDE_DIRS})
-#    set(CUDA_PROPAGATE_HOST_FLAGS OFF)
-#    set(CUDA_NVCC_FLAGS -gencode arch=compute_20,code=sm_20;-G;-g)#根据具体GPU更改参数
-#    #arch=compute_30,code=sm_30
-#    #arch=compute_35,code=sm_35
-#    #arch=compute_50,code=[sm_50,compute_50]
-#    #arch=compute_52,code=[sm_52,compute_52]
-#    #SET(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS};-gencode arch=compute_61,code=sm_61;-std=c++11;-O3;-G;-g)
-#    link_directories($ENV{CUDA_PATH}/lib/x64)
-#    CUDA_ADD_EXECUTABLE(cv_2022 ${CURRENT_HEADERS} ${CURRENT_SOURCES})
-#else (${CUDA_FOUND})
-#    MESSAGE(STATUS "Skip CUDA!")
-#endif (${CUDA_FOUND})
+find_package(CUDA)
+if (${CUDA_FOUND})
+    set(CUDA_SOURCE_PROPERTY_FORMAT OBJ)
+    set(CUDA_SEPARABLE_COMPILATION ON)
+    include_directories(${CUDA_INCLUDE_DIRS})
+    set(CUDA_PROPAGATE_HOST_FLAGS OFF)
+    set(CUDA_NVCC_FLAGS -gencode arch=compute_20,code=sm_20;-G;-g)#根据具体GPU更改参数
+    #arch=compute_30,code=sm_30
+    #arch=compute_35,code=sm_35
+    #arch=compute_50,code=[sm_50,compute_50]
+    #arch=compute_52,code=[sm_52,compute_52]
+    #SET(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS};-gencode arch=compute_61,code=sm_61;-std=c++11;-O3;-G;-g)
+    link_directories($ENV{CUDA_PATH}/lib/x64)
+    CUDA_ADD_EXECUTABLE(cv_2022 ${CURRENT_HEADERS} ${CURRENT_SOURCES})
+else (${CUDA_FOUND})
+    MESSAGE(STATUS "Skip CUDA!")
+endif (${CUDA_FOUND})
 
-if (WIN32)
-    file(GLOB CURRENT_HEADERS Inc/*.h Inc/*.hpp Inc/*.cuh)
-    file(GLOB CURRENT_SOURCES Src/*.cpp Src/*.cu)
-    include_directories(win-unix/)
-    file(GLOB WIN_UNIX win-unix/*.h win-unix/*.hpp)
-else()
-    file(GLOB CURRENT_HEADERS Inc/*.h Inc/*.hpp Inc/*.cuh)
-    file(GLOB CURRENT_SOURCES Src/*.cpp Src/*.cu)
-endif()
-source_group("Include" FILES ${CURRENT_HEADERS})
-source_group("Source" FILES ${CURRENT_SOURCES})
+#if (WIN32)
+#    file(GLOB CURRENT_HEADERS Inc/*.h Inc/*.hpp Inc/*.cuh)
+#    file(GLOB CURRENT_SOURCES Src/*.cpp Src/*.cu)
+#    include_directories(win-unix/)
+#    file(GLOB WIN_UNIX win-unix/*.h win-unix/*.hpp)
+#else()
+#    file(GLOB CURRENT_HEADERS Inc/*.h Inc/*.hpp Inc/*.cuh)
+#    file(GLOB CURRENT_SOURCES Src/*.cpp Src/*.cu)
+#endif()
+#source_group("Include" FILES ${CURRENT_HEADERS})
+#source_group("Source" FILES ${CURRENT_SOURCES})
+#
+#include_directories(./)
+#include_directories(Inc/)
+#include_directories(Src/)
+#
+#add_executable(cv_test main.cpp ${CURRENT_HEADERS} ${CURRENT_SOURCES} ${WIN_UNIX})
 
+#---------------------TEST---------------------
 include_directories(./)
 include_directories(Inc/)
 include_directories(Src/)
@@ -54,36 +61,17 @@ aux_source_directory(Lib/libv4l2_opencv_mat/src libv4l2_SRC_FILES)
 add_library(libv4l2 STATIC ${libv4l2_SRC_FILES})
 target_include_directories(libv4l2 PUBLIC "Lib/libv4l2_opencv_mat/inc")
 
-add_library(WzSerialPortPlus STATIC Lib/WzSerialPortPlus/WzSerialPortPlus.cpp )
+add_library(WzSerialPortPlus STATIC Lib/WzSerialPortPlus/WzSerialPortPlus.cpp)
 target_include_directories(WzSerialPortPlus PUBLIC "Lib/WzSerialPortPlus")
 
-
-add_executable(cv_test ${CURRENT_HEADERS} ${CURRENT_SOURCES} ${WIN_UNIX})
+set(SRC Src/armour.cpp Src/new_uart_thread_init.cpp Src/led.cpp Src/kalman.cpp)
+set(INC Inc/armour.h Inc/new_uart_thread_init.h Inc/led.h Inc/kalman.h)
+add_executable(cv_test ${SRC} ${INC})
 target_link_libraries(cv_test libv4l2)
-target_link_libraries(cv_test WzSerialPortPlus)
 
-#---------------------TEST---------------------
-#include_directories(./)
-#include_directories(Inc/)
-#include_directories(Src/)
-#
-#aux_source_directory(Lib/libv4l2_opencv_mat/src libv4l2_SRC_FILES)
-#add_library(libv4l2 STATIC ${libv4l2_SRC_FILES})
-#target_include_directories(libv4l2 PUBLIC "Lib/libv4l2_opencv_mat/inc")
-#
-#add_library(WzSerialPortPlus STATIC Lib/WzSerialPortPlus/WzSerialPortPlus.cpp )
-#target_include_directories(WzSerialPortPlus PUBLIC "Lib/WzSerialPortPlus")
-#
-#set(SRC Src/armour.cpp  Src/led.cpp Src/kalman.cpp )
-#set(INC Inc/armour.h   Inc/led.h Inc/kalman.h )
-##set(SRC Src/armour.cpp Src/led.cpp Src/kalman.cpp Src/serial.cpp)
-##set(INC Inc/armour.h Inc/led.h Inc/kalman.h Inc/serial.h)
-#add_executable(cv_test ${SRC} ${INC} Src/serial.cpp Inc/serial.h)
-#target_link_libraries(cv_test libv4l2 WzSerialPortPlus)
-#
-##target_link_libraries(cv_test WzSerialPortPlus)
+#target_link_libraries(cv_test WzSerialPortPlus)
 #---------------------END----------------------
 
 #!
-add_executable(test_lib main.cpp Src/serial.cpp Inc/serial.h)
+add_executable(test_lib main.cpp)
 target_link_libraries(test_lib WzSerialPortPlus)

Inc/armour.h

@@ -28,8 +28,7 @@ using namespace cv;
 
 #endif
 
-//#include "new_uart_thread_init.h"
-#include "serial.h"
+#include "new_uart_thread_init.h"
 #include "led.h"
 #include "kalman.h"
 #include "BufWu.h"
@@ -53,7 +52,6 @@ enum MODE_FLAG {
     MODE_NONE = 0,
     MODE_RED = 1,
     MODE_BLUE = 2
-
 };
 
 struct combine_rect_height {
@@ -63,6 +61,8 @@ struct combine_rect_height {
 
 extern int CMD_COLOR;
 
+static pos_data data_send;
+
 class armour {
 public:
     double cost_time;
@@ -105,6 +105,8 @@ class armour {
 
     Mat HSV_to_gray(const Mat &, int, int, int, int, int, int, int);
 
+    auto judgeColor(const Mat &src_image);
+
     void fire(Mat &);
 
     vector<vector<Point> > judge_the_min_distance(const Mat &, const vector<vector<Point> > &, double, double);

Inc/config.h

@@ -12,7 +12,8 @@
 #define IMAGE_WIDTH 3264
 #define IMAGE_HEIGHT 2448
 #define FPS 30
-#define SERIAL_PORT "/dev/ttyUSB0"
-#define SERIAL_BAUDRATE 115200
+
+// 1: red, 2: blue
+#define BEAT_COLOR 1
 
 #endif //CV_TEST_CONFIG_H

Inc/led.h

@@ -8,11 +8,10 @@
 #include <linux/fs.h>                 //ÓëÉ豞Çý¶¯³ÌÐòÓйØ
 #include <fcntl.h>                    //žÄ±äÒÑŽò¿ªµÄÎÄŒþÐÔÖÊ
 #include <cstring>
-#include <termios.h>
+#include <termios.h>                  //²ÎÊýÉèÖÃ
 #include <cerrno>
 #include <iostream>
-//#include "new_uart_thread_init.h"
-#include "serial.h"
+#include "new_uart_thread_init.h"
 
 using namespace std;
 

Inc/new_uart_2stm32.h

@@ -0,0 +1,62 @@
+#ifndef _NEW_UART_2STM32
+#define _NEW_UART_2STM32
+/*<inttypes.h>:
+#pragma pack(8):
+*/
+#include <cinttypes>
+#include <cstdio>
+#include <cstring>
+#include <cstdlib>
+
+typedef struct {
+
+    uint8_t Head;
+    uint8_t CmdID;
+    uint16_t Datalength;
+
+}__attribute__((packed, aligned(1))) Frame_hearder;
+
+typedef struct {
+
+    int32_t x;
+    int32_t y;
+    int32_t z;
+    int32_t Time_Interval;
+    uint8_t Goal_State;
+
+}__attribute__((packed, aligned(1))) Armour_MOD;
+typedef struct {
+
+    uint8_t Mod_set_over;
+
+}__attribute__((packed, aligned(1))) Reply_MOD;
+
+typedef struct {
+
+    float x;
+    float y;
+    float z;
+    uint8_t Target_state;
+
+
+}__attribute__((packed, aligned(1))) Power_MOD;
+typedef struct {
+
+    uint8_t Target_state;
+
+}__attribute__((packed, aligned(1))) Error_MOD;
+//ÊÓŸõÊýŸÝœá¹¹
+typedef struct {
+    Frame_hearder FH_data;
+    union {
+        Armour_MOD Ar_data;
+        Reply_MOD Re_data;
+        Power_MOD PW_data;
+        Error_MOD Err_data;
+    } Data;
+    uint16_t CRC16;
+}__attribute__((packed, aligned(1))) Date_message;
+
+void send_message_AR(float xdata, float ydata, float zdata, float tdata, uint8_t Cmdata);
+
+#endif

Inc/new_uart_thread_init.h

@@ -0,0 +1,59 @@
+#ifndef _NEW_UART_THREAD_INIT_H
+#define _NEW_UART_THREAD_INIT_H
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <termios.h>
+#include <fcntl.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <linux/ioctl.h>
+#include <termios.h>
+#include <math.h>
+#include <pthread.h>
+#include <sys/ipc.h>
+#include <sys/msg.h>
+#include <errno.h>
+#include <math.h>
+#include <unistd.h>
+#include <sys/time.h>
+
+#include "new_uart_2stm32.h"
+
+#define BUFF_REPEAT 1
+#define BUFF_UNREPEAT 2
+#define BUFF_CENTER 3
+#define BUFF_UNCENTER 4
+
+#define BEGIN_LED 1
+#define BLUE_LED  2
+#define RED_LED 3
+//²Ëµ¥×÷ΪѡÏî
+enum {
+    MOD_NULL = 0,
+    MOD_RED,    //ºì·½
+    MOD_BLUE,    //À¶·½
+    MOD_POWER_BIG,    //´ò´ó·ù
+    MOD_POWER_SMALL,//С·û
+    MOD_AUTO,        //×Ô¶¯´ò»÷
+};
+/*====send the mesage====*/
+//void send_message_PW(float xdata, float ydata, float zdata, uint8_t Cmdata);
+void send_message_AR(float xdata, float ydata, float zdata, float tdata, uint8_t Cmdata);
+//void send_message_VR( uint8_t Cmdata);
+//void send_message_ER(uint8_t Cmdata);
+/*=====the thread====*/
+void *thread_read(void *arg);
+
+void *thread_write(void *arg);
+//void *thread_video(void * arg);
+//void *thread_led(void *arg);
+/*===== uart =====*/
+int INIT_UART();
+
+int UART_WRITE_DATA(char *data, int data_sizeof);
+
+
+#endif/*end the init*/
+