241 lines
7.8 KiB
C++
241 lines
7.8 KiB
C++
#include "debug.hpp"
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#include "tasks/auto_buff/auto_buff.hpp"
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namespace wust_vision::auto_buff {
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void drawDebugRuneContent(
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cv::Mat& debug_img,
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const AutoBuffDebug& dbg,
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std::pair<cv::Mat, cv::Mat> camera_info
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) {
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const auto& gimbal_cmd = dbg.gimbal_cmd;
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double predict_angle = dbg.predict_angle;
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auto aim_target = dbg.aim_target;
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auto auto_buff = dbg.power_rune;
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const cv::Rect img_rect(0, 0, debug_img.cols, debug_img.rows);
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const cv::Rect roi = dbg.expanded & img_rect;
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cv::rectangle(debug_img, roi, cv::Scalar(255, 255, 255), 2);
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const std::string latency_str = fmt::format("Latency: {:.2f}ms", dbg.latency_ms);
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cv::putText(
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debug_img,
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latency_str,
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cv::Point(10, 30),
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cv::FONT_HERSHEY_SIMPLEX,
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0.8,
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cv::Scalar(255, 255, 255),
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2
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);
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aim_target.tf(dbg.T_camera_to_odom.inverse());
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{
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const auto pts = aim_target.toPts(camera_info.first, camera_info.second);
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if (!pts.empty()) {
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cv::Scalar color = cv::Scalar(255, 255, 255);
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for (int i = 0; i < 4; i++)
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cv::line(debug_img, pts[i], pts[(i + 1) % 4], color, 2);
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// 后表面
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for (int i = 4; i < 8; i++)
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cv::line(debug_img, pts[i], pts[4 + (i + 1) % 4], color, 2);
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// 侧边
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for (int i = 0; i < 4; i++)
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cv::line(debug_img, pts[i], pts[i + 4], color, 2);
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cv::Point2f center(0.f, 0.f);
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for (auto pt: pts) {
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center += pt;
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}
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center *= 1.0 / pts.size();
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if (gimbal_cmd.fire_advice) {
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int cross_len = 60;
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cv::line(
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debug_img,
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center + cv::Point2f(-cross_len, -cross_len),
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center + cv::Point2f(+cross_len, +cross_len),
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cv::Scalar(0, 0, 255),
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5
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);
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cv::line(
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debug_img,
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center + cv::Point2f(-cross_len, +cross_len),
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center + cv::Point2f(+cross_len, -cross_len),
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cv::Scalar(0, 0, 255),
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5
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);
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}
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const double scale = 10.0;
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const double v_yaw = gimbal_cmd.v_yaw;
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const double v_pitch = gimbal_cmd.v_pitch;
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const double dx = -scale * v_yaw;
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const double dy = scale * v_pitch;
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const cv::Point2f start_pt = center;
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const cv::Point2f end_pt = start_pt + cv::Point2f(dx, dy);
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const cv::Scalar color_x = cv::Scalar(50, 50, 255);
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cv::arrowedLine(debug_img, start_pt, end_pt, color_x, 4, cv::LINE_AA, 0, 0.2);
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}
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}
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if (gimbal_cmd.fire_advice) {
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const std::string fire_str = "Fire!";
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cv::putText(
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debug_img,
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fire_str,
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{ debug_img.cols / 2 - 100, 200 },
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cv::FONT_HERSHEY_SIMPLEX,
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2.85,
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cv::Scalar(0, 0, 255),
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2
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);
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}
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const std::string gimbal_str = fmt::format(
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"Pitch: {:.2f}, Yaw: {:.2f}, Enable_pitch_diff: {:.2f}, Enable_yaw_diff: {:.2f}, V_yaw: {:.2f}, V_pitch: {:.2f}",
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gimbal_cmd.pitch,
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gimbal_cmd.yaw,
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gimbal_cmd.enable_pitch_diff,
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gimbal_cmd.enable_yaw_diff,
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gimbal_cmd.v_yaw,
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gimbal_cmd.v_pitch
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);
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cv::putText(
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debug_img,
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gimbal_str,
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{ 10, debug_img.rows - 30 },
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cv::FONT_HERSHEY_SIMPLEX,
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0.8,
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cv::Scalar(255, 255, 0),
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2
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);
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auto_buff.tf(dbg.T_camera_to_odom.inverse());
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auto_buff.draw(debug_img, camera_info.first, camera_info.second);
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cv::circle(
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debug_img,
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cv::Point2i(debug_img.cols / 2, debug_img.rows / 2),
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5,
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cv::Scalar(255, 255, 255),
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2
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);
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}
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void writeTargetLogToJson(const auto_buff::RuneTarget& rune_target) {
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nlohmann::json j;
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const auto now = std::chrono::steady_clock::now();
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nlohmann::json jr;
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jr["tracking"] = true;
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jr["id"] = static_cast<int>(rune_target.last_id);
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const auto age_ms_r =
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std::chrono::duration_cast<std::chrono::milliseconds>(now - rune_target.timestamp_).count();
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jr["timestamp_age_ms"] = age_ms_r;
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jr["position"] = { { "x", rune_target.centerPos().x() },
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{ "y", rune_target.centerPos().y() },
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{ "z", rune_target.centerPos().z() } };
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jr["roll"] = rune_target.roll() * 180.0 / M_PI;
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jr["yaw"] = rune_target.yaw() * 180.0 / M_PI;
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jr["v_roll"] = rune_target.v_roll() * 180.0 / M_PI;
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j["rune_target"] = jr;
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// -------- 写文件 --------
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std::ofstream file("/dev/shm/target_log.json");
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if (file.is_open()) {
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file << j.dump(2);
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}
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}
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struct DebugLogs {
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#define DEBUG_LOG_LIST(X) \
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X(double, 100, time) \
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X(double, 100, raw_yaw) \
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X(double, 100, raw_pitch) \
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X(double, 100, yaw) \
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X(double, 100, pitch) \
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X(double, 100, ypd_y) \
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X(double, 100, ypd_p) \
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X(double, 100, rune_obs) \
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X(double, 100, rune_pre) \
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X(double, 100, rune_obsv) \
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X(double, 100, rune_fitv) \
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X(double, 100, gimbal_yaw) \
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X(double, 100, gimbal_pitch) \
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X(double, 100, target_v_yaw) \
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X(double, 100, control_v_yaw) \
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X(double, 100, control_v_pitch) \
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X(double, 100, yaw_diff) \
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X(double, 100, fire) \
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X(double, 100, rune_dis) \
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X(double, 100, fly_time) \
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X(double, 100, control_a_yaw) \
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X(double, 100, control_a_pitch)
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#define GEN_LOG(TYPE, SIZE, NAME) LogsStream<TYPE, SIZE> NAME##_log { #NAME };
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#define X(TYPE, SIZE, NAME) GEN_LOG(TYPE, SIZE, NAME)
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DEBUG_LOG_LIST(X)
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#undef X
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void clear() {
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#define X(TYPE, SIZE, NAME) NAME##_log.clear();
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DEBUG_LOG_LIST(X)
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#undef X
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}
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};
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void debuglog(const AutoBuffDebug& dbg_rune) {
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static bool first_log = true;
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static std::chrono::steady_clock::time_point start_time;
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static DebugLogs log;
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static GimbalCmd last_cmd_;
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static double rune_dis = 0.0;
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if (first_log) {
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start_time = std::chrono::steady_clock::now();
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first_log = false;
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}
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const auto now = std::chrono::steady_clock::now();
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const double t = std::chrono::duration<double>(now - start_time).count();
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const auto_buff::RuneTarget& rune_target = dbg_rune.target;
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writeTargetLogToJson(rune_target);
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double armor_yaw = 0.0, ypd_y = 0.0, ypd_p = 0.0, armor_distance = 0.0;
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if (dbg_rune.pnp_distance > 1.0) {
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rune_dis = dbg_rune.pnp_distance;
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}
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GimbalCmd i_use;
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if (dbg_rune.gimbal_cmd.appear) {
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i_use = dbg_rune.gimbal_cmd;
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} else {
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i_use = last_cmd_;
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}
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last_cmd_ = i_use;
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nlohmann::json j;
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log.time_log.handleOnce(t, j);
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log.raw_yaw_log.handleOnce(i_use.target_yaw, j);
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log.raw_pitch_log.handleOnce(i_use.target_pitch, j);
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log.yaw_log.handleOnce(i_use.yaw, j);
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log.pitch_log.handleOnce(i_use.pitch, j);
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log.rune_obs_log.handleOnce(dbg_rune.obs_angle, j);
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log.rune_pre_log.handleOnce(dbg_rune.pre_angle, j);
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log.rune_fitv_log.handleOnce(dbg_rune.fitter_v * 180.0 / M_PI, j);
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log.rune_obsv_log.handleOnce(dbg_rune.obs_v * 180.0 / M_PI, j);
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log.gimbal_pitch_log.handleOnce(dbg_rune.gimbal_py.first * 180.0 / M_PI, j);
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log.gimbal_yaw_log.handleOnce(dbg_rune.gimbal_py.second * 180.0 / M_PI, j);
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log.control_v_pitch_log.handleOnce(i_use.v_pitch, j);
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log.control_v_yaw_log.handleOnce(i_use.v_yaw, j);
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log.fire_log.handleOnce(i_use.fire_advice, j);
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log.rune_dis_log.handleOnce(rune_dis, j);
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log.fly_time_log.handleOnce(i_use.fly_time, j);
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log.control_a_yaw_log.handleOnce(i_use.a_yaw / 180.0 * M_PI, j);
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log.control_a_pitch_log.handleOnce(i_use.a_pitch / 180.0 * M_PI, j);
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std::ofstream file("/dev/shm/cmd_log.json");
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if (file.is_open()) {
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file << j.dump();
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}
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}
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} // namespace wust_vision::auto_buff
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