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This commit is contained in:
Glz
2024-07-13 19:00:45 +08:00
parent af031e23d8
commit b88aaf47e5
13 changed files with 171 additions and 89 deletions
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167
app/gl_barrier.c
View File

@@ -3,7 +3,7 @@
enum barrier_type_e barrier_type = BARRIER_NONE;
enum s_type_e s_type = S_NONE;
enum shield_type_e shield_type = SHIELD_NONE;
enum shield_type_e shield_type = SHIELD_NONE;
float (*mid_track_s)[2];
int32_t mid_track_count_s;
int temp_min_s;
@@ -13,18 +13,38 @@ int barrier_count = 0;
void CheckBarrier()
{
if (barrier_type == BARRIER_NONE && Lpt0_found_barrier_in && !Lpt1_found_barrier_in && is_straight1) {
barrier_type = BARRIER_LEFT_BEGIN;
}
if (barrier_type == BARRIER_NONE && !Lpt0_found_barrier_in && Lpt1_found_barrier_in && is_straight0) {
barrier_type = BARRIER_RIGHT_BEGIN;
}
if (barrier_type == BARRIER_NONE && Lpt0_found_barrier_in && !Lpt1_found_barrier_in && is_straight1) {
barrier_type = BARRIER_LEFT_BEGIN;
}
if (barrier_type == BARRIER_NONE && !Lpt0_found_barrier_in && Lpt1_found_barrier_in && is_straight0) {
barrier_type = BARRIER_RIGHT_BEGIN;
}
}
void RunBarrier()
{
if (barrier_type == BARRIER_LEFT_BEGIN||barrier_type == BARRIER_LEFT_RUNNING) {
if (barrier_type == BARRIER_LEFT_BEGIN || barrier_type == BARRIER_LEFT_RUNNING) {
track_type = TRACK_RIGHT;
if (barrier_type == BARRIER_LEFT_BEGIN)
{
timer_clear(TIM_2);
timer_start(TIM_2);
barrier_type = BARRIER_LEFT_RUNNING;
}
if (barrier_type == BARRIER_LEFT_RUNNING)
{
if (timer_get(TIM_2) >= 500)
{
barrier_type = BARRIER_NONE;
timer_stop(TIM_2);
timer_clear(TIM_2);
}
else{
barrier_type = BARRIER_LEFT_RUNNING;
}
}
// if (barrier_begin_flag == 0) {
// timer_clear(TIM_3);
// timer_start(TIM_3);
@@ -46,31 +66,35 @@ void RunBarrier()
// }
// }
// }
if (pts_resample_left_count >= 5)
{
if (Lpt0_found) {
Lpt0_found_count++;
}
if (Lpt0_found_count >= 1 && barrier_type == BARRIER_LEFT_BEGIN) {
Lpt0_found_count = 0;
barrier_type = BARRIER_LEFT_RUNNING;
track_type = TRACK_RIGHT;
timer_clear(TIM_2);
timer_start(TIM_2);
} else if (barrier_type == BARRIER_LEFT_RUNNING) {
track_type = TRACK_RIGHT;
if (timer_get(TIM_2) >= 500) {
barrier_type = BARRIER_NONE;
track_type = TRACK_RIGHT;
timer_stop(TIM_2);
timer_clear(TIM_2);
}
}
}
else{
track_type = TRACK_RIGHT;
barrier_type = BARRIER_NONE;
}
// if (pts_resample_left_count >= 5) {
// if (Lpt0_found) {
// Lpt0_found_count++;
// }
// if (Lpt0_found_count >= 1 && barrier_type == BARRIER_LEFT_BEGIN) {
// Lpt0_found_count = 0;
// barrier_type = BARRIER_LEFT_RUNNING;
// track_type = TRACK_RIGHT;
// timer_clear(TIM_2);
// timer_start(TIM_2);
// } else if (barrier_type == BARRIER_LEFT_RUNNING) {
// track_type = TRACK_RIGHT;
// if (timer_get(TIM_2) >= 500) {
// barrier_type = BARRIER_NONE;
// track_type = TRACK_RIGHT;
// timer_stop(TIM_2);
// timer_clear(TIM_2);
// }
// }
// } else {
// track_type = TRACK_RIGHT;
// barrier_type = BARRIER_NONE;
// }
// if (barrier_type == BARRIER_LEFT_RUNNING) {
// if (pts_resample_left_count >= 5 && pts_resample_right_count >= 5) {
// barrier_type = BARRIER_NONE;
// }
// }
// if (Lpt0_found) {
// Lpt0_found_count++;
@@ -92,8 +116,26 @@ void RunBarrier()
// }
}
if (barrier_type == BARRIER_RIGHT_BEGIN||barrier_type == BARRIER_RIGHT_RUNNING) {
if (barrier_type == BARRIER_RIGHT_BEGIN || barrier_type == BARRIER_RIGHT_RUNNING) {
track_type = TRACK_LEFT;
if (barrier_type == BARRIER_RIGHT_BEGIN)
{
timer_clear(TIM_2);
timer_start(TIM_2);
barrier_type = BARRIER_RIGHT_RUNNING;
}
if (barrier_type == BARRIER_RIGHT_RUNNING)
{
if (timer_get(TIM_2) >= 500)
{
barrier_type = BARRIER_NONE;
timer_stop(TIM_2);
timer_clear(TIM_2);
}
else{
barrier_type = BARRIER_RIGHT_RUNNING;
}
}
// if (barrier_begin_flag == 0) {
// timer_clear(TIM_3);
// timer_start(TIM_3);
@@ -115,31 +157,35 @@ void RunBarrier()
// }
// }
// }
if (pts_resample_right_count >= 5)
{
if (Lpt1_found) {
Lpt1_found_count++;
}
if (Lpt1_found_count >= 1 && barrier_type == BARRIER_RIGHT_BEGIN) {
Lpt1_found_count = 0;
barrier_type = BARRIER_RIGHT_RUNNING;
track_type = TRACK_LEFT;
timer_clear(TIM_2);
timer_start(TIM_2);
} else if (barrier_type == BARRIER_RIGHT_RUNNING) {
track_type = TRACK_LEFT;
if (timer_get(TIM_2) >= 500) {
timer_stop(TIM_2);
timer_clear(TIM_2);
barrier_type = BARRIER_NONE;
track_type = TRACK_LEFT;
}
}
}
else{
track_type = TRACK_LEFT;
barrier_type = BARRIER_NONE;
}
// if (pts_resample_right_count >= 5) {
// if (Lpt1_found) {
// Lpt1_found_count++;
// }
// if (Lpt1_found_count >= 1 && barrier_type == BARRIER_RIGHT_BEGIN) {
// Lpt1_found_count = 0;
// barrier_type = BARRIER_RIGHT_RUNNING;
// track_type = TRACK_LEFT;
// timer_clear(TIM_2);
// timer_start(TIM_2);
// } else if (barrier_type == BARRIER_RIGHT_RUNNING) {
// track_type = TRACK_LEFT;
// if (timer_get(TIM_2) >= 500) {
// timer_stop(TIM_2);
// timer_clear(TIM_2);
// barrier_type = BARRIER_NONE;
// track_type = TRACK_LEFT;
// }
// }
// } else {
// track_type = TRACK_LEFT;
// barrier_type = BARRIER_NONE;
// }
// if (barrier_type == BARRIER_RIGHT_RUNNING) {
// if (pts_resample_left_count >= 5 && pts_resample_right_count >= 5) {
// barrier_type = BARRIER_NONE;
// }
// }
}
}
@@ -180,7 +226,6 @@ void RunS()
}
}
// void Check_shield(){
// if (begin_flag == 1)
// {
@@ -196,6 +241,4 @@ void RunS()
// timer_clear(TIM_3);
// }
// }

12
app/gl_circle.c
View File

@@ -15,6 +15,8 @@ int32_t Right_Border_ToLeft_Circle = 0;
int32_t Left_Border_ToRight_Circle = 0;
int32_t Right_Border_ToRight_Circle = 0;
int32_t ceshi = 0;
void CheckCircle()
{
// 非圆环模式下，单边L角点, 单边长直道
@@ -59,7 +61,7 @@ void RunCircle()
}
} else if (circle_type == CIRCLE_LEFT_RUNNING) // 正常巡线，寻外圆右线
{
//track_type = TRACK_RIGHT;
// track_type = TRACK_RIGHT;
track_type = TRACK_LEFT; // 看看加一个如果丢线才切换
if (Lpt1_found) {
pts_resample_right_count = mid_right_count = Lpt1_rpts1s_id;
@@ -125,8 +127,8 @@ void RunCircle()
} else if (circle_type == CIRCLE_RIGHT_RUNNING) // 正常巡线，寻外圆左线
{
track_type = TRACK_RIGHT;
//track_type = TRACK_LEFT; // 看看加一个如果丢线才切换
if (Lpt0_found) // 外环存在拐点，可再加拐点距离判据 (左 L 点)
// track_type = TRACK_LEFT; // 看看加一个如果丢线才切换
if (Lpt0_found) // 外环存在拐点，可再加拐点距离判据 (左 L 点)
{
pts_resample_left_count = mid_left_count = Lpt0_rpts0s_id;
}
@@ -149,13 +151,13 @@ void RunCircle()
{
Right_Border_None_Circle++;
}
if (pts_resample_right_count > 0.7 / RESAMPLEDIST &&
Right_Border_None_Circle > FRAMENONE) {
if (pts_resample_right_count > (0.7 / RESAMPLEDIST) && Right_Border_None_Circle > FRAMENONE) {
circle_type = CIRCLE_NONE;
Right_Border_None_Circle = 0;
Right_Border_Have_Circle = 0;
Left_Border_ToLeft_Circle = 0;
Left_Border_ToRight_Circle = 0;
}
}
}

1
app/gl_circle.h
View File

@@ -17,6 +17,7 @@ enum circle_type_e {
};
extern enum circle_type_e circle_type;
extern int32_t ceshi;
void CheckCircle(void);
void RunCircle(void);

1
app/gl_common.h
View File

@@ -16,6 +16,7 @@
#define SELFADAPT_OFFSET (8) // 适应性块大小
#define PIXPERMETER (70.0f)
#define PIXPERMETER_ACROSS (72.0f)
#define PIXPERMETER_ACROSS_BARRIER (10.0f)
#define RESAMPLEDIST (0.02f)
#define ANGLEDIST (0.2f)
#define ANGLEDIST_barrier (0.06f)

8
app/gl_cross.c
View File

@@ -69,9 +69,9 @@ void cross_farline(){
}
}
/*如果一行全为白色没写*/
if (far_x1 <= 30)
if (far_x1 <= 4)
{
far_x1 = 30;
far_x1 = 4;
}
for (; h1 > 0; h1--) {
@@ -98,9 +98,9 @@ void cross_farline(){
}
}
/*如果一行全为白色没写*/
if (far_x2 >= 120)
if (far_x2 >= 136)
{
far_x2 = 120;
far_x2 = 136;
}
for (; h2 > 0; h2--) {

4
app/gl_data.c
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@@ -47,11 +47,15 @@ int32_t pts_far_resample_right_count;
float mid_left[PT_MAXLEN][2];
float mid_right[PT_MAXLEN][2];
float mid_left_barrier[PT_MAXLEN][2];
float mid_right_barrier[PT_MAXLEN][2];
float mid_s[PT_MAXLEN][2];
int32_t mid_left_count;
int32_t mid_right_count;
int32_t mid_left_barrier_count;
int32_t mid_right_barrier_count;
float angle_new_left[PT_MAXLEN];
float angle_new_right[PT_MAXLEN];

5
app/gl_data.h
View File

@@ -57,9 +57,14 @@ extern int32_t pts_far_resample_right_count;
extern float mid_left[PT_MAXLEN][2];
extern float mid_right[PT_MAXLEN][2];
extern float mid_s[PT_MAXLEN][2];
extern float mid_left_barrier[PT_MAXLEN][2];
extern float mid_right_barrier[PT_MAXLEN][2];
extern int32_t mid_left_count;
extern int32_t mid_right_count;
extern int32_t mid_left_barrier_count;
extern int32_t mid_right_barrier_count;
extern float angle_new_left[PT_MAXLEN];
extern float angle_new_right[PT_MAXLEN];

2
app/gl_garage.c
View File

@@ -44,7 +44,7 @@ void CheckGarage()
int banmaxian_hangshu = 0;//斑马线行数
//从下往上扫描
for (int y = BEGINH_L + 2; y >= BEGINH_L - 2; y--)
for (int y = BEGINH_L + 4; y >= BEGINH_L - 4; y--)
{
int banmaxian_kuandu=0;
//int banmaxian_hangshu=0;

1
app/gl_garage.h
View File

@@ -5,6 +5,7 @@
enum garage_type_e {
GARAGE_NONE, // 非车库模式
GARAGE_FOUND,
OUT_STOP,
};
extern enum garage_type_e garage_type;

6
app/gl_img_process.c
View File

@@ -146,5 +146,11 @@ void img_processing() {
GetMidLine_Right(pts_resample_right, pts_resample_right_count, mid_right, (int) round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER_ACROSS * ROADWIDTH / 2);
mid_right_count = pts_resample_right_count;
// 左右中线跟踪(避障专属)
GetMidLine_Left(pts_resample_left, pts_resample_left_count, mid_left_barrier, (int) round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER_ACROSS_BARRIER * ROADWIDTH / 2);
mid_left_barrier_count = pts_resample_left_count;
GetMidLine_Right(pts_resample_right, pts_resample_right_count, mid_right_barrier, (int) round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER_ACROSS_BARRIER * ROADWIDTH / 2);
mid_right_barrier_count = pts_resample_right_count;
}

46
app/gl_tracking.c
View File

@@ -139,13 +139,16 @@ void ElementJudge()
cross_type = CROSS_NONE;
circle_type = CIRCLE_NONE;
barrier_type = BARRIER_NONE;
}
if (cross_type != CROSS_NONE) {
circle_type = CIRCLE_NONE;
barrier_type = BARRIER_NONE;
}
if (barrier_type != BARRIER_NONE) {
circle_type = CIRCLE_NONE;
}
}
@@ -183,7 +186,16 @@ void MidLineTrack()
GetMidLine_Right(pts_far_resample_right + far_Lpt1_rpts1s_id, pts_far_resample_right_count - far_Lpt1_rpts1s_id, mid_right, (int)round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER * ROADWIDTH / 2);
mid_track_count = pts_far_resample_right_count - far_Lpt1_rpts1s_id;
}
} else {
} else if (barrier_type == BARRIER_LEFT_RUNNING || barrier_type == BARRIER_RIGHT_RUNNING)
{
if (track_type == TRACK_LEFT) {
mid_track = mid_left_barrier;
mid_track_count = mid_left_barrier_count;
} else {
mid_track = mid_right_barrier;
mid_track_count = mid_right_barrier_count;
}
}else {
if (track_type == TRACK_LEFT) {
mid_track = mid_left;
mid_track_count = mid_left_count;
@@ -287,17 +299,10 @@ void MidLineTrack()
switch (barrier_type) {
case BARRIER_LEFT_BEGIN:
// dx_near = mid_track[aim_idx_near][1] - cx + barrier_offset;
pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * 0.5f * dx / dn) / PI32 * 180.0f - 20;
break;
case BARRIER_LEFT_RUNNING:
pure_angle = 15.f;
pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * 0.5f * dx / dn) / PI32 * 180.0f;
break;
case BARRIER_RIGHT_BEGIN:
pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * 0.5f * dx / dn) / PI32 * 180.0f + 20;
break;
case BARRIER_RIGHT_RUNNING:
// dx_near = mid_track[aim_idx_near][1] - cx - barrier_offset;
pure_angle = -15.f;
pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * 0.5f * dx / dn) / PI32 * 180.0f;
default:
// pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * 0.5f * dx / dn) / PI32 * 180.0f;
if (dy > 0) {
@@ -309,12 +314,10 @@ void MidLineTrack()
// pure_angle_half = last_pure_angle_half;
}
}
if (garage_type == GARAGE_FOUND)
{
if (garage_type == GARAGE_FOUND) {
pure_angle = 0.f;
}
// if (barrier_type == BARRIER_LEFT_BEGIN) {
// // dx_near = mid_track[aim_idx_near][1] - cx + barrier_offset;
// pure_angle = -25.f;
@@ -349,7 +352,7 @@ void MidLineTrack()
timer_clear(TIM_3);
timer_start(TIM_3);
}
if (circle_type == CIRCLE_LEFT_RUNNING || circle_type == CIRCLE_RIGHT_RUNNING || circle_type == CIRCLE_RIGHT_OUT || circle_type == CIRCLE_LEFT_OUT || circle_type == CIRCLE_LEFT_END || circle_type == CIRCLE_RIGHT_END) {
if (circle_type == CIRCLE_LEFT_RUNNING || circle_type == CIRCLE_RIGHT_RUNNING || circle_type == CIRCLE_RIGHT_OUT || circle_type == CIRCLE_LEFT_OUT) {
if (circle_flag == 1) {
state_type = CIRCLE_STATE;
}
@@ -370,6 +373,12 @@ void MidLineTrack()
circle_flag = 1;
}
if (circle_type == CIRCLE_LEFT_END || circle_type == CIRCLE_RIGHT_END)
{
state_type = STRAIGHT_STATE;
}
if (barrier_type == BARRIER_LEFT_BEGIN || barrier_type == BARRIER_LEFT_RUNNING || barrier_type == BARRIER_RIGHT_BEGIN || barrier_type == BARRIER_RIGHT_RUNNING) {
state_type = BARRIER_STATE;
}
@@ -399,4 +408,13 @@ void MidLineTrack()
// timer_clear(TIM_3);
// }
// }
if (state_type != BARRIER_STATE || garage_type != GARAGE_FOUND) {
if ((pts_left_count <= 2) && (pts_right_count <= 2) && (GET_PIX_1C(mt9v03x_image_copy[0], BEGINH_L, IMAGE_W / 2 - BEGINW_R) <= FIX_BINTHRESHOLD) && (GET_PIX_1C(mt9v03x_image_copy[0], BEGINH_L, IMAGE_W / 2 + BEGINW_L) <= FIX_BINTHRESHOLD)) {
garage_type = OUT_STOP;
}
}
else{
garage_type = GARAGE_NONE;
}
}

2
app/page/page_dparam.c
View File

@@ -53,7 +53,7 @@ static void Loop()
ips200_show_int(90, 18 + 38, track_type, 1);
ips200_show_int(90, 18 + 56, garage_type, 1);
ips200_show_int(90, 18 + 74, cross_type, 1);
ips200_show_int(90, 18 + 92, circle_type, 1);
ips200_show_int(90, 18 + 92, circle_type, 2);
ips200_show_int(90, 18 + 110, s_type, 1);
ips200_show_float(90, 18 + 128, curvature, 4, 5);
ips200_show_int(90, 18 + 146, Lpt0_found_barrier_in, 1);

1
app/page/page_rtcam.c
View File

@@ -63,6 +63,7 @@ static void Loop()
ips200_show_uint(160, 224, Lpt1_found_barrier_in, 3);
ips200_show_uint(200, 165, barrier_type, 3);
ips200_show_uint(200, 185, state_type, 5);
//ips200_show_uint(200, 205, ceshi, 5);
}
/**