基于颜色的图像识别与轨迹跟踪

#include"linux_serial.h" #include <stdio.h> /*标准输入输出定义*/ #include <stdlib.h> /*标准函数库定义*/ #include <unistd.h> /*Unix标准函数定义*/ #include <math.h> #include <sys/types.h> /**/ #include <sys/stat.h> /**/ #include <fcntl.h> /*文件控制定义*/ #include <termios.h> /*PPSIX终端控制定义*/ #include <errno.h> /*错误号定义*/ #include "opencv/highgui.h" #include "opencv/cv.h" #define FALSE -1 #define TRUE 0 /***@brief 设置串口通信速率 *@param fd 类型 int 打开串口的文件句柄 *@param speed 类型 int 串口速度 *@return void*/ int speed_arr[] = { B38400, B19200, B9600, B4800, B2400, B1200, B300, B38400, B19200, B9600, B4800, B2400, B1200, B300, }; int name_arr[] = {38400, 19200, 9600, 4800, 2400, 1200, 300, 38400, 19200, 9600, 4800, 2400, 1200, 300, }; /* unsigned char head[2]; unsigned char datax[2]; unsigned char datay[2]; unsigned char dataf[2]; */ unsigned char data[8]; void set_speed(int fd, int speed) { int i; int status; struct termios Opt; tcgetattr(fd, &Opt); for ( i= 0; i < sizeof(speed_arr) / sizeof(int); i++) { if (speed == name_arr[i]) { tcflush(fd, TCIOFLUSH); cfsetispeed(&Opt, speed_arr[i]); cfsetospeed(&Opt, speed_arr[i]); status = tcsetattr(fd, TCSANOW, &Opt); if (status != 0) perror("tcsetattr fd1"); return; } tcflush(fd,TCIOFLUSH); } } /** *@brief 设置串口数据位，停止位和效验位 *@param fd 类型 int 打开的串口文件句柄* *@param databits 类型 int 数据位 取值 为 7 或者8* *@param stopbits 类型 int 停止位 取值为 1 或者2* *@param parity 类型 int 效验类型 取值为N,E,O,,S */ int set_Parity(int fd,int databits,int stopbits,int parity) { struct termios options; if ( tcgetattr( fd,&options) != 0) { perror("SetupSerial 1"); return(FALSE); } options.c_cflag &= ~CSIZE; switch (databits) /*设置数据位数*/ { case 7: options.c_cflag |= CS7; break; case 8: options.c_cflag |= CS8; break; default: fprintf(stderr,"Unsupported data size\n"); return (FALSE); } switch (parity) { case 'n': case 'N': options.c_cflag &= ~PARENB; /* Clear parity enable */ options.c_iflag &= ~INPCK; /* Enable parity checking */ break; case 'o': case 'O': options.c_cflag |= (PARODD | PARENB); /* 设置为奇效验*/ options.c_iflag |= INPCK; /* Disnable parity checking */ break; case 'e': case 'E': options.c_cflag |= PARENB; /* Enable parity */ options.c_cflag &= ~PARODD; /* 转换为偶效验*/ options.c_iflag |= INPCK; /* Disnable parity checking */ break; case 'S': case 's': /*as no parity*/ options.c_cflag &= ~PARENB; options.c_cflag &= ~CSTOPB; break; default: fprintf(stderr,"Unsupported parity\n"); return (FALSE); } /* 设置停止位*/ switch (stopbits) { case 1: options.c_cflag &= ~CSTOPB; break; case 2: options.c_cflag |= CSTOPB; break; default: fprintf(stderr,"Unsupported stop bits\n"); return (FALSE); } /* Set input parity option */ if (parity != 'n') options.c_iflag |= INPCK; options.c_cc[VTIME] = 250; // 15 seconds options.c_cc[VMIN] = 1; //设置串口的raw方式 options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG); /*Input*/ options.c_oflag &= ~OPOST; /*Output*/ options.c_oflag &= ~OPOST; options.c_oflag &= ~(ONLCR | OCRNL); //添加的 options.c_iflag &= ~(ICRNL | INLCR); options.c_iflag &= ~(IXON | IXOFF | IXANY); //添加的 tcflush(fd,TCIFLUSH); /* Update the options and do it NOW */ if (tcsetattr(fd,TCSANOW,&options) != 0) { perror("SetupSerial 3"); return (FALSE); } return (TRUE); } /** *@breif 打开串口 */ int OpenDev(char *Dev) { int fd = open( Dev, O_RDWR| O_NOCTTY); //| O_NOCTTY | O_NDELAY if (-1 == fd) { /*设置数据位数*/ perror("Can't Open Serial Port"); return -1; } else return fd; } //以下是串口发送程序 int send_serial(CvPoint objectPos, int flag, int fd) { int nwrite;//写入数据数目 /* head[0] = 0xaa; head[1] = 0x55; datax[0] = objectPos.x; datax[1] = objectPos.x/256; datay[0] = objectPos.y; datay[1] = objectPos.y/256; dataf[0] =0x01; (unsigned char)flag; dataf[1] = 0x0a; */ data[0] = 0xaa; data[1] = 0x55; data[2] = objectPos.x; data[3] = objectPos.x/256; data[4] = objectPos.y; data[5] = objectPos.y/256; data[6] = (unsigned char)flag; data[7] = 0x0a; nwrite = write(fd, data, 8); /* nwrite = write(fd, (head), 1); sleep(0.01); nwrite = write(fd, (head+1), 1); sleep(0.01); nwrite = write(fd, datax, 1); sleep(0.01); nwrite = write(fd, (datax+1), 1); sleep(0.01); nwrite = write(fd, (datay), 1); sleep(0.01); nwrite = write(fd, (datay+1), 1); sleep(0.01); nwrite = write(fd, (dataf), 1); sleep(0.01); nwrite = write(fd, (dataf + 1), 1); if (nwrite < 1) printf("write serial error\n"); */ printf("send right %x %x %d\n",data[0] ,data[1], nwrite); return nwrite; } int read_serial(int fd) { unsigned char data[5]; int nwrite = 0; nwrite = read(fd, data, 1); if (nwrite != 1) printf("read wrong\n"); if (data[0] == 0x0c) return 0; else return -1; } /** *@breif main() */ /* int main(int argc, char **argv) { int fd; int nread; char buff[512]; char *dev ="/dev/ttyUSB0"; fd = OpenDev(dev); if (fd>0) set_speed(fd,4800); else { printf("Can't Open Serial Port!\n"); exit(0); } if (set_Parity(fd,8,1,'N')== FALSE) { printf("Set Parity Error\n"); exit(1); } while(1) { nread = read(fd,buff,512); //buff[nread+1]='\0'; printf("%s",buff); } close(fd); exit(0); } */