commit after race

app/src/main/java/com/uns/maincar/constants/Commands.java

@@ -39,6 +39,8 @@ public class Commands
 	
 	//形状颜色
 	public static byte COLOR_SHAPE_SUCCESS = (byte) 0xA6;
+	public static byte COLOR_SHAPE_DATA_PART2 = (byte) 0xC6;
+	public static byte COLOR_SHAPE_DATA_PART3 = (byte) 0xD6;
 	public static byte COLOR_SHAPE_FAILED = (byte) 0xB6;
 	
 	//交通标志

app/src/main/java/com/uns/maincar/constants/Flags.java

@@ -19,6 +19,18 @@ public class Flags
 	public static final int CAMERA_DOWN = 2;
 	public static final int CAMERA_LEFT = 4;
 	public static final int CAMERA_RIGHT = 6;
+	public static final int CAMERA_STEP_0 = 0;
+	public static final int CAMERA_STEP_1 = 1;
+	public static final int CAMERA_STEP_2 = 2;
+	public static final int CAMERA_RE_INIT = 2;
+	public static final int CAMERA_SET_POS_1 = 32;
+	public static final int CAMERA_GET_POS_1 = 33;
+	public static final int CAMERA_SET_POS_2 = 34;
+	public static final int CAMERA_GET_POS_2 = 35;
+	public static final int CAMERA_SET_POS_3 = 36;
+	public static final int CAMERA_GET_POS_3 = 37;
+	public static final int CAMERA_SET_POS_4 = 38;
+	public static final int CAMERA_GET_POS_4 = 39;
 	
 	//主/从车移动控制指令
 	public static final byte CMD_PACKET_MAIN_CAR = (byte) 0xAA;

app/src/main/java/com/uns/maincar/data_type/ShapeColorResult.java

@@ -57,11 +57,51 @@ public class ShapeColorResult
 			if (storage.containsKey(color) && Objects.requireNonNull(storage.get(color)).containsKey(shape))
 				return Objects.requireNonNull(Objects.requireNonNull(storage.get(color)).get(shape));
 			else
-				return -1;
+				return 0;
 		}
 		catch (Exception e)
 		{
-			return -2;
+			return 0;
+		}
+	}
+	
+	public int GetValue(GlobalColor color)
+	{
+		try
+		{
+			if (storage.containsKey(color))
+			{
+				AtomicInteger cnt = new AtomicInteger();
+				HashMap<GlobalShape, Integer> spec_color = storage.get(color);
+				if (spec_color == null)
+					return 0;
+				spec_color.forEach((s, c) -> cnt.addAndGet(c));
+				return cnt.intValue();
+			}
+			else
+				return 0;
+		}
+		catch (Exception e)
+		{
+			return 0;
+		}
+	}
+	
+	public int GetValue(GlobalShape shape)
+	{
+		try
+		{
+			AtomicInteger cnt = new AtomicInteger();
+			storage.forEach((c, map) -> map.forEach((s, _c) ->
+			{
+				if (s == shape)
+					cnt.addAndGet(_c);
+			}));
+			return cnt.intValue();
+		}
+		catch (Exception e)
+		{
+			return 0;
 		}
 	}
 	

app/src/main/java/com/uns/maincar/gui/MainActivity.java

@@ -43,6 +43,7 @@ import com.uns.maincar.constants.Commands;
 import com.uns.maincar.constants.Flags;
 import com.uns.maincar.constants.Flags.TrafficLightColors;
 import com.uns.maincar.constants.GlobalColor;
+import com.uns.maincar.constants.GlobalShape;
 import com.uns.maincar.cpp_interface.CarLicense;
 import com.uns.maincar.cpp_interface.ColoredQRDecoder;
 import com.uns.maincar.cpp_interface.EnvTest;
@@ -72,7 +73,7 @@ public class MainActivity extends AppCompatActivity
 	//数据接收处理器
 	private final Handler recvHandler;
 	//主车相机地址，默认值不重要
-	private String IPCamera = "192.168.1.101:81";
+	private String IPCamera = "10.254.254.100";
 	//摄像头当前图像
 	private Bitmap currImage;
 	//存储小车的IP
@@ -199,7 +200,7 @@ public class MainActivity extends AppCompatActivity
 										break;
 									//收到SHAPE_COLOR指令，开始识别形状颜色，回传识别成功的数据
 									case Commands.RECEIVE_SHAPE_COLOR:
-										dtc_client.Send(RecognizeShapeColor());
+										RecognizeShapeColor();
 										break;
 									//收到CAR_ID指令，开始识别车牌号，回传识别成功的数据
 									case Commands.RECEIVE_CAR_ID:
@@ -249,7 +250,7 @@ public class MainActivity extends AppCompatActivity
 		TextFilter filter = new TextFilter();
 		for (String data : qr_data)
 		{
-			String processed_data = filter.LetterAndNumber(data);
+			String processed_data = filter.ChineseOnly(data);
 			if (processed_data.length() > 0)
 			{
 				validate_result = processed_data;
@@ -285,9 +286,11 @@ public class MainActivity extends AppCompatActivity
 	//识别二维码
 	private byte[] RecognizeQrCode(boolean colored, GlobalColor target_color)
 	{
+		ToastLog("Begin QR Code", false, true);
 		CommandEncoder encoder = new CommandEncoder();
 		if (!colored)
 		{
+			ToastLog("Start Black-White QR", false, true);
 			ArrayList<String> qr_result = new ArrayList<>();
 			if (!QRDecoder.BeginQRDecode(currImage))
 				return encoder.GenerateCommand(Commands.QR_FAILED, (byte) 0, (byte) 0, (byte) 0);
@@ -296,11 +299,8 @@ public class MainActivity extends AppCompatActivity
 			if (qr_result.size() <= 0)
 				return encoder.GenerateCommand(Commands.QR_FAILED, (byte) 0, (byte) 0, (byte) 0);
 			else
-			{
-				qr_result.forEach(qr -> ToastLog(qr, false, true));
 				return ProcessQRData(qr_result);
 		}
-		}
 		else
 		{
 			boolean success = ColoredQRDecoder.BeginQRDecode(currImage, false);
@@ -343,7 +343,7 @@ public class MainActivity extends AppCompatActivity
 	}
 	
 	//识别形状颜色
-	private byte[] RecognizeShapeColor()
+	private void RecognizeShapeColor()
 	{
 		CommandEncoder encoder = new CommandEncoder();
 		/*if (!ShapeColor.RecognizeEverything(currImage))
@@ -358,8 +358,20 @@ public class MainActivity extends AppCompatActivity
 		ShapeDetector detector = new ShapeDetector();
 		detector.shapePicProcess(currImage);
 		ShapeColorResult result = detector.GetAllResult();
+		byte blue_latter = (byte) result.GetValue(GlobalColor.BLUE, GlobalShape.RECTANGLE);
+		byte red_circle = (byte) result.GetValue(GlobalColor.RED, GlobalShape.CIRCLE);
+		byte yellow_triangle = (byte) result.GetValue(GlobalColor.YELLOW, GlobalShape.TRIANGLE);
+		byte all_squares = (byte) result.GetValue(GlobalShape.SQUARE);
+		byte all_cyan = (byte) result.GetValue(GlobalColor.CYAN);
+		byte all_purple = (byte) result.GetValue(GlobalColor.PURPLE);
+		byte all_green = (byte) result.GetValue(GlobalColor.GREEN);
+		byte all_red = (byte) result.GetValue(GlobalColor.RED);
+		dtc_client.Send(encoder.GenerateCommand(Commands.COLOR_SHAPE_DATA_PART3, all_purple, all_green, all_red));
+		Sleep(500);
+		dtc_client.Send(encoder.GenerateCommand(Commands.COLOR_SHAPE_SUCCESS, blue_latter, red_circle, yellow_triangle));
+		Sleep(500);
+		dtc_client.Send(encoder.GenerateCommand(Commands.COLOR_SHAPE_DATA_PART2, all_squares, (byte) 0x00, all_cyan));
 		ToastLog(result.toString(), false, true);
-		return encoder.GenerateCommand();
 	}
 	
 	//识别车牌
@@ -659,7 +671,7 @@ public class MainActivity extends AppCompatActivity
 		{
 			Thread th_send = new Thread(() ->
 			{
-				if (!CameraOperator.SendCommand(IPCamera, Flags.CAMERA_UP, 5))
+				if (!CameraOperator.SendCommand(IPCamera, Flags.CAMERA_UP, Flags.CAMERA_STEP_2))
 					ToastLog("Camera Command (UP) Failure.", false, true);
 			});
 			th_send.start();
@@ -669,7 +681,7 @@ public class MainActivity extends AppCompatActivity
 		{
 			Thread th_send = new Thread(() ->
 			{
-				if (!CameraOperator.SendCommand(IPCamera, Flags.CAMERA_DOWN, 5))
+				if (!CameraOperator.SendCommand(IPCamera, Flags.CAMERA_DOWN, Flags.CAMERA_STEP_2))
 					ToastLog("Camera Command (DOWN) Failure.", false, true);
 			});
 			th_send.start();
@@ -679,7 +691,7 @@ public class MainActivity extends AppCompatActivity
 		{
 			Thread th_send = new Thread(() ->
 			{
-				if (!CameraOperator.SendCommand(IPCamera, Flags.CAMERA_LEFT, 5))
+				if (!CameraOperator.SendCommand(IPCamera, Flags.CAMERA_LEFT, Flags.CAMERA_STEP_2))
 					ToastLog("Camera Command (LEFT) Failure.", false, true);
 			});
 			th_send.start();
@@ -689,7 +701,7 @@ public class MainActivity extends AppCompatActivity
 		{
 			Thread th_send = new Thread(() ->
 			{
-				if (!CameraOperator.SendCommand(IPCamera, Flags.CAMERA_RIGHT, 5))
+				if (!CameraOperator.SendCommand(IPCamera, Flags.CAMERA_RIGHT, Flags.CAMERA_STEP_2))
 					ToastLog("Camera Command (RIGHT) Failure.", false, true);
 			});
 			th_send.start();
@@ -737,7 +749,8 @@ public class MainActivity extends AppCompatActivity
 		context.findViewById(R.id.btn_start_color_shape).setOnClickListener(view ->
 		{
 			ToastLog("Color Shape Started", false, false);
-			ToastLog("CS Result: " + ByteArray2String(RecognizeShapeColor()), false, false);
+			ToastLog("CS Result: ", false, false);
+			RecognizeShapeColor();
 			context.finish();
 		});
 		
@@ -938,7 +951,7 @@ public class MainActivity extends AppCompatActivity
 		ToastLog(QRDecoder.SelfTest(BitmapFactory.decodeResource(getResources(), R.drawable.qr_decode_test)), false, false);
 		
 		//初始化开源交通标志识别库
-		YoloV5_tfLite_TSDetector.minimumConfidence = 0.7f;
+		YoloV5_tfLite_TSDetector.minimumConfidence = 0.8f;
 		ToastLog("Open Source Traffic Sign Detector: " + (TS_Detector.LoadModel("CPU", 4, this.getAssets()) ? "Success" : "Failure"), false, false);
 		
 		//初始化开源车型识别库
@@ -981,7 +994,6 @@ public class MainActivity extends AppCompatActivity
 			while (!success);    //避免”while循环具有空体“警告
 			IPCamera = cameraSearcher.GetCameraIP();
 			ToastLog("CameraSearchThread: Camera Found. IP: " + IPCamera, false, true);
-			IPCamera += ":81";
 			ToastLog("Camera Address: " + IPCamera, false, true);
 			StartCameraImageUpdate(50);
 			//这里是程序初始化的最后一步，能到达此处标志着自检通过

app/src/main/java/com/uns/maincar/tools/camera/CameraOperator.java

@@ -22,11 +22,13 @@ import java.net.URL;
 
 public class CameraOperator
 {
+	private static final String Port = "100";
+	
 	public static Bitmap GetImage(String IP)
 	{
 		try
 		{
-			URL url = new URL("http://" + IP + "/snapshot.cgi?loginuse=admin&loginpas=888888&res=0");
+			URL url = new URL("http://" + IP + ":" + Port + "/snapshot.cgi?loginuse=admin&loginpas=888888&res=0");
 			HttpURLConnection httpURLConnection = (HttpURLConnection) url.openConnection();
 			httpURLConnection.setDoInput(true);
 			httpURLConnection.connect();
@@ -48,7 +50,7 @@ public class CameraOperator
 			return false;
 		try
 		{
-			URL url = new URL("http://" + IP + "/decoder_control.cgi?loginuse=admin&loginpas=888888&" + "command=" + command + "&onestep=" + step);
+			URL url = new URL("http://" + IP + ":" + Port + "/decoder_control.cgi?loginuse=admin&loginpas=888888&command=" + command + "&onestep=" + step);
 			HttpURLConnection urlConnection = (HttpURLConnection) url.openConnection();
 			urlConnection.connect();
 			urlConnection.disconnect();

opencv/build/intermediates/cxx/Debug/6x33t2q6/meta/arm64-v8a/generate_cxx_metadata_220_timing.txt

@@ -5,3 +5,6 @@ generate_cxx_metadata
   [gap of 12ms]
 generate_cxx_metadata completed in 72ms
 
+# C/C++ build system timings
+generate_cxx_metadata 48ms
+

opencv/build/intermediates/cxx/Debug/6x33t2q6/meta/arm64-v8a/generate_cxx_metadata_222_timing.txt

@@ -10,3 +10,9 @@ generate_cxx_metadata
   create-invalidation-state 20ms
 generate_cxx_metadata completed in 48ms
 
+# C/C++ build system timings
+generate_cxx_metadata
+  [gap of 18ms]
+  create-invalidation-state 22ms
+generate_cxx_metadata completed in 49ms
+

opencv/build/intermediates/cxx/Debug/6x33t2q6/meta/arm64-v8a/generate_cxx_metadata_223_timing.txt

@@ -18,3 +18,9 @@ generate_cxx_metadata
   create-invalidation-state 15ms
 generate_cxx_metadata completed in 45ms
 
+# C/C++ build system timings
+generate_cxx_metadata
+  [gap of 15ms]
+  create-invalidation-state 26ms
+generate_cxx_metadata completed in 50ms
+

opencv/build/intermediates/cxx/Debug/6x33t2q6/meta/arm64-v8a/generate_cxx_metadata_31_timing.txt

@@ -10,3 +10,6 @@ generate_cxx_metadata completed in 52ms
 # C/C++ build system timings
 generate_cxx_metadata 24ms
 
+# C/C++ build system timings
+generate_cxx_metadata 22ms
+

opencv/build/intermediates/cxx/Debug/6x33t2q6/meta/arm64-v8a/metadata_generation_record.json

@@ -11,7 +11,7 @@
       "fieldsDescending": {}
     },
     "memoizedSize": -1,
-    "memoizedHashCode": 2083485280
+    "memoizedHashCode": -1092009220
   },
   {
     "level_": 0,
@@ -25,7 +25,7 @@
       "fieldsDescending": {}
     },
     "memoizedSize": -1,
-    "memoizedHashCode": -1137068205
+    "memoizedHashCode": -17595409
   },
   {
     "level_": 0,
@@ -39,6 +39,6 @@
       "fieldsDescending": {}
     },
     "memoizedSize": -1,
-    "memoizedHashCode": 956474728
+    "memoizedHashCode": 2075947524
   }
 ]

opencv/build/intermediates/cxx/Debug/6x33t2q6/meta/armeabi-v7a/metadata_generation_record.json

@@ -11,7 +11,7 @@
       "fieldsDescending": {}
     },
     "memoizedSize": -1,
-    "memoizedHashCode": -724465594
+    "memoizedHashCode": -2033006184
   },
   {
     "level_": 0,
@@ -25,7 +25,7 @@
       "fieldsDescending": {}
     },
     "memoizedSize": -1,
-    "memoizedHashCode": 517794169
+    "memoizedHashCode": -790746421
   },
   {
     "level_": 0,
@@ -39,6 +39,6 @@
       "fieldsDescending": {}
     },
     "memoizedSize": -1,
-    "memoizedHashCode": 202140752
+    "memoizedHashCode": -1106399838
   }
 ]

opencv/build/intermediates/cxx/Debug/6x33t2q6/meta/x86/metadata_generation_record.json

@@ -11,7 +11,7 @@
       "fieldsDescending": {}
     },
     "memoizedSize": -1,
-    "memoizedHashCode": 1460624558
+    "memoizedHashCode": 152083968
   },
   {
     "level_": 0,
@@ -25,7 +25,7 @@
       "fieldsDescending": {}
     },
     "memoizedSize": -1,
-    "memoizedHashCode": -901653023
+    "memoizedHashCode": 2084773683
   },
   {
     "level_": 0,
@@ -39,6 +39,6 @@
       "fieldsDescending": {}
     },
     "memoizedSize": -1,
-    "memoizedHashCode": -102853660
+    "memoizedHashCode": -1411394250
   }
 ]

opencv/build/intermediates/cxx/Debug/6x33t2q6/meta/x86_64/metadata_generation_record.json

@@ -11,7 +11,7 @@
       "fieldsDescending": {}
     },
     "memoizedSize": -1,
-    "memoizedHashCode": 1382461888
+    "memoizedHashCode": 73921298
   },
   {
     "level_": 0,
@@ -25,7 +25,7 @@
       "fieldsDescending": {}
     },
     "memoizedSize": -1,
-    "memoizedHashCode": 627810785
+    "memoizedHashCode": -680729805
   },
   {
     "level_": 0,
@@ -39,6 +39,6 @@
       "fieldsDescending": {}
     },
     "memoizedSize": -1,
-    "memoizedHashCode": 1045521523
+    "memoizedHashCode": -263019067
   }
 ]

opencv/build/intermediates/cxx/abi_configuration_311k5o12.log

@@ -11,6 +11,6 @@
       "fieldsDescending": {}
     },
     "memoizedSize": -1,
-    "memoizedHashCode": -1235839491
+    "memoizedHashCode": 1519124326
   }
 ]

opencv/build/intermediates/cxx/create_cxx_tasks_31_timing.txt

@@ -1237,3 +1237,68 @@ create_cxx_tasks
   create-initial-cxx-model completed in 99ms
 create_cxx_tasks completed in 100ms
 
+# C/C++ build system timings
+create_cxx_tasks
+  create-initial-cxx-model
+    create-module-model
+      create-cmake-model 37ms
+    create-module-model completed in 40ms
+    create-module-model
+      create-cmake-model 38ms
+    create-module-model completed in 40ms
+    [gap of 10ms]
+  create-initial-cxx-model completed in 101ms
+create_cxx_tasks completed in 102ms
+
+# C/C++ build system timings
+create_cxx_tasks
+  create-initial-cxx-model
+    create-module-model
+      create-cmake-model 36ms
+    create-module-model completed in 38ms
+    create-module-model
+      create-cmake-model 36ms
+    create-module-model completed in 38ms
+    [gap of 10ms]
+  create-initial-cxx-model completed in 96ms
+create_cxx_tasks completed in 97ms
+
+# C/C++ build system timings
+create_cxx_tasks
+  create-initial-cxx-model
+    create-module-model
+      create-cmake-model 37ms
+    create-module-model completed in 39ms
+    create-module-model
+      create-cmake-model 35ms
+    create-module-model completed in 38ms
+    [gap of 11ms]
+  create-initial-cxx-model completed in 98ms
+create_cxx_tasks completed in 101ms
+
+# C/C++ build system timings
+create_cxx_tasks
+  create-initial-cxx-model
+    create-module-model
+      create-cmake-model 38ms
+    create-module-model completed in 39ms
+    create-module-model
+      create-cmake-model 39ms
+    create-module-model completed in 40ms
+    [gap of 10ms]
+  create-initial-cxx-model completed in 99ms
+create_cxx_tasks completed in 100ms
+
+# C/C++ build system timings
+create_cxx_tasks
+  create-initial-cxx-model
+    create-module-model
+      create-cmake-model 37ms
+    create-module-model completed in 39ms
+    create-module-model
+      create-cmake-model 34ms
+    create-module-model completed in 35ms
+    [gap of 10ms]
+  create-initial-cxx-model completed in 93ms
+create_cxx_tasks completed in 95ms
+

opencv/build/intermediates/cxx/create_cxx_tasks_363_timing.txt

@@ -11,3 +11,15 @@ create_cxx_tasks
   create-initial-cxx-model completed in 98ms
 create_cxx_tasks completed in 98ms
 
+# C/C++ build system timings
+create_cxx_tasks
+  create-initial-cxx-model
+    create-module-model
+      create-cmake-model 34ms
+    create-module-model completed in 35ms
+    create-module-model
+      create-cmake-model 39ms
+    create-module-model completed in 44ms
+  create-initial-cxx-model completed in 97ms
+create_cxx_tasks completed in 97ms
+

opencv/build/intermediates/cxx/ndk_locator_record_50t213g5.log

@@ -11,7 +11,7 @@
       "fieldsDescending": {}
     },
     "memoizedSize": -1,
-    "memoizedHashCode": -393804873
+    "memoizedHashCode": 725667923
   },
   {
     "level_": 0,
@@ -25,7 +25,7 @@
       "fieldsDescending": {}
     },
     "memoizedSize": -1,
-    "memoizedHashCode": 398383230
+    "memoizedHashCode": 1517856026
   },
   {
     "level_": 0,
@@ -39,7 +39,7 @@
       "fieldsDescending": {}
     },
     "memoizedSize": -1,
-    "memoizedHashCode": 1102844423
+    "memoizedHashCode": -2072650077
   },
   {
     "level_": 0,
@@ -53,7 +53,7 @@
       "fieldsDescending": {}
     },
     "memoizedSize": -1,
-    "memoizedHashCode": -1329308803
+    "memoizedHashCode": -209836007
   },
   {
     "level_": 0,
@@ -67,7 +67,7 @@
       "fieldsDescending": {}
     },
     "memoizedSize": -1,
-    "memoizedHashCode": 2072968911
+    "memoizedHashCode": -1102525589
   },
   {
     "level_": 0,
@@ -81,6 +81,6 @@
       "fieldsDescending": {}
     },
     "memoizedSize": -1,
-    "memoizedHashCode": -1886018166
+    "memoizedHashCode": -766545370
   }
 ]