mode change bug fix

tup-robomaster · May 23, 2022 · 0f77d53 · 0f77d53
1 parent 44efdf5
commit 0f77d53
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Showing 3 changed files with 11 additions and 10 deletions.
diff --git a/buff/detector/inference.cpp b/buff/detector/inference.cpp
@@ -320,7 +320,7 @@ BuffDetector::~BuffDetector()
 //TODO:change to your dir
 bool BuffDetector::initModel(string path)
 {
-    ie.SetConfig({{CONFIG_KEY(CACHE_DIR), "/home/dishierweidu/Desktop/TUP-InfantryVision-2022-main/.cache"}});
+    ie.SetConfig({{CONFIG_KEY(CACHE_DIR), "../TUP-InfantryVision-2022-main/.cache"}});
     // ie.SetConfig({{CONFIG_KEY(GPU_THROUGHPUT_STREAMS),"GPU_THROUGHPUT_AUTO"}});
     ie.SetConfig({{CONFIG_KEY(GPU_THROUGHPUT_STREAMS),"1"}});
     // Step 1. Read a model in OpenVINO Intermediate Representation (.xml and

diff --git a/debug.h b/debug.h
@@ -79,10 +79,6 @@
     #define USING_IMU_C_BOARD   //使用C板陀螺仪
 #endif // USING_IMU
 
-#ifndef DETECT_RED
-    #define DETECT_BLUE
-#endif  //DETECT_RED
-
 #ifdef SHOW_IMG
     #define SHOW_ALL_ARMOR  //是否绘制装甲板
     #define SHOW_ALL_FANS   //是否绘制所有扇叶
@@ -95,6 +91,10 @@
     #define USING_USB_CAMERA
 #endif // USING_DAHENG
 
+#ifndef DETECT_RED
+    #define DETECT_BLUE
+#endif  //DETECT_RED
+
 #ifdef DETECT_RED
     #define DETECT_BUFF_BLUE
 #else

diff --git a/thread/thread.cpp b/thread/thread.cpp
@@ -157,10 +157,12 @@ bool consumer(Factory<TaskData> &task_factory,Factory<VisionData> &transmit_fact
         VisionData data;
         task_factory.consume(dst);
         mode = dst.mode;
-        mode = 1;   //默认进入自瞄模式
+
+#ifdef DEBUG_WITHOUT_COM
+        mode = 1;
+#endif //DEBUG_WITHOUT_COM
 
 #ifdef SAVE_TRANSMIT_LOG
-    // cout<<mode<<"..."<<last_mode<<endl;
     if (mode != last_mode)
     {
         LOG(INFO)<<"[CONSUMER] Mode switched to "<< mode;
@@ -252,9 +254,8 @@ bool dataReceiver(SerialPort &serial, MessageFilter<MCUData> &receive_factory, s
         auto timestamp = (int)(std::chrono::duration<double,std::milli>(time_cap - time_start).count());
         // cout<<"Quat: "<<serial.quat[0]<<" "<<serial.quat[1]<<" "<<serial.quat[2]<<" "<<serial.quat[3]<<" "<<endl;
         // Eigen::Quaterniond quat = {serial.quat[0],serial.quat[1],serial.quat[2],serial.quat[3]};
-        //FIXME:注意此处mode设置
-        // int mode = serial.mode;
-        int mode = 1;
+
+        int mode = serial.mode;
         Eigen::Quaterniond quat = {serial.quat[0],serial.quat[1],serial.quat[2],serial.quat[3]};
         Eigen::Vector3d acc = {serial.acc[0],serial.acc[1],serial.acc[2]};;
         Eigen::Vector3d gyro = {serial.gyro[0],serial.gyro[1],serial.gyro[2]};;