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This commit is contained in:
Tim Zeuner 2023-03-03 18:45:03 +01:00
parent 397e6fe331
commit c40b69ebe2
2 changed files with 28 additions and 9 deletions
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30
lfr_state_machine.cpp
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@ -104,16 +104,26 @@ LFR_StateMachine::LFR_StateMachine():
currentState = &State::Idle::getInstance();
currentState->enter(this);
//Start the permanent loop
char input;
std::cout << "press q to quit" << std::endl;
std::cin >> input;
std::cout << "binned" << std::endl;
while (input != 'q')
cv::VideoWriter writer = cv::VideoWriter("video_200.avi", cv::VideoWriter::fourcc('M','J','P','G'), 4.0, cv::Size(videoWidth, videoHeight), true);
auto t_start = std::chrono::high_resolution_clock::now();
auto t_end = std::chrono::high_resolution_clock::now();
double dur = std::chrono::duration<double, std::milli>(t_end-t_start).count();
while(dur < 60000)
{
std::cin >> input;
std::cout << "binned" << std::endl;
t_end = std::chrono::high_resolution_clock::now();
dur = std::chrono::duration<double, std::milli>(t_end-t_start).count();
{
this_thread::sleep_for(std::chrono::milliseconds(50));
std::unique_lock<std::mutex> lock(imgMutex);
if(!this->image.empty())
{
writer.write(this->image);
}
}
}
writer.release();
std::cout << "Exiting central" << std::endl;
}
@ -146,6 +156,10 @@ void LFR_StateMachine::enterAutonomous()
double delta = static_cast<double>(deltaMs) / 1000.0;
double frameRate = 1.0 / static_cast<double>(delta);*/
double frameRate = -1.0;
{
std::unique_lock<std::mutex> lock(imgMutex);
image = result.rawImage;
}
if (result.validLane)
{

7
lfr_state_machine.h
View File

@ -16,7 +16,7 @@ class LFR_StateMachine
const int videoHeight = 720;
const int videoWidth = 1280;
const int gaussKernelSize = 11;
const double maxSpeed = 0.5;
const double maxSpeed = 0.20;
std::mutex mutex;
@ -24,6 +24,9 @@ class LFR_StateMachine
LFR_UART uartCommunicator;
LFR_Socket socket;
std::mutex imgMutex;
Mat image;
vector<string> split (string s, string delimiter) const;
void sanitize (string& s) const;
bool checkStringValidity (const std::vector<std::string>& s) const;
@ -36,3 +39,5 @@ public:
inline LFR_IState* getCurrentState() const {return currentState;}
void setState(LFR_IState& newState);
};