初始提交：龙芯2K0300智能车卖家Demo完整代码

2026-05-28 15:24:33 +08:00
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+/*
+ * @Author: ilikara 3435193369@qq.com
+ * @Date: 2025-03-11 02:38:15
+ * @LastEditors: ilikara 3435193369@qq.com
+ * @LastEditTime: 2025-03-29 01:39:17
+ * @FilePath: /2k300_smartcar/udp_receive/udp_receive.cpp
+ * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
+ */
+#include <iostream>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <unistd.h>
+#include <cstdint>
+#include <string.h>
+#include <opencv2/opencv.hpp>
+#include <thread>
+
+#include "MotorController.h"
+#include "PwmController.h"
+#include "GPIO.h"
+#include <iomanip>
+
+cv::VideoCapture cap;
+
+std::string directory = "./image";
+int saved_frame_count;
+void streamCapture(void)
+{
+    cv::Mat frame;
+    while (1)
+    {
+        cap.read(frame);
+        if (frame.empty())
+        {
+            std::cerr << "Save Error: Frame is empty." << std::endl;
+            continue;
+        }
+
+        // 构建文件名
+        std::ostringstream filename;
+        filename << directory << "/image_" << std::setw(5) << std::setfill('0') << saved_frame_count << ".jpg";
+
+        saved_frame_count++;
+        // 保存图像
+        cv::imwrite(filename.str(), frame);
+    }
+    return;
+}
+
+GPIO mortorEN(73);
+MotorController *motorController[2] = {nullptr, nullptr};
+PwmController servo(1, 0);
+
+void Init()
+{
+    mortorEN.setDirection("out");
+    mortorEN.setValue(1);
+    const int pwmchip[2] = {8, 8};
+    const int pwmnum[2] = {2, 1};
+    const int gpioNum[2] = {12, 13};
+    const int encoder_pwmchip[2] = {0, 3};
+    const int encoder_gpioNum[2] = {75, 72};
+    const int encoder_dir[2] = {1, -1};
+    const unsigned int period_ns = 50000; // 20 kHz
+
+    for (int i = 0; i < 2; ++i)
+    {
+        motorController[i] = new MotorController(pwmchip[i], pwmnum[i], gpioNum[i], period_ns,
+                                                 0, 0, 0, 0,
+                                                 encoder_pwmchip[i], encoder_gpioNum[i], encoder_dir[i]);
+        motorController[i]->updateduty(0);
+    }
+
+    servo.setPeriod(3040000);
+    servo.setDutyCycle(1520000);
+    servo.enable();
+}
+
+int main()
+{
+    // 打开默认摄像头（设备编号 0）
+    cap.open(0);
+
+    // 检查摄像头是否成功打开
+    if (!cap.isOpened())
+    {
+        printf("无法打开摄像头\n");
+        return -1;
+    }
+
+    cap.set(cv::CAP_PROP_FRAME_WIDTH, 320);                                  // 宽度
+    cap.set(cv::CAP_PROP_FRAME_HEIGHT, 240);                                // 高度
+    cap.set(cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc('M', 'J', 'P', 'G')); // 视频流格式
+    cap.set(cv::CAP_PROP_AUTO_EXPOSURE, -1);                                   // 设置自动曝光
+
+    std::thread camworker = std::thread(streamCapture);
+
+    Init();
+
+    const int PORT = 8888;
+    const int BUFFER_SIZE = 2 * sizeof(float);
+
+    // 创建UDP Socket
+    int sockfd = socket(AF_INET, SOCK_DGRAM, 0);
+    if (sockfd < 0)
+    {
+        std::cerr << "Socket creation failed" << std::endl;
+        return -1;
+    }
+
+    // 绑定地址和端口
+    sockaddr_in server_addr{};
+    server_addr.sin_family = AF_INET;
+    server_addr.sin_addr.s_addr = INADDR_ANY;
+    server_addr.sin_port = htons(PORT);
+
+    if (bind(sockfd, (sockaddr *)&server_addr, sizeof(server_addr)))
+    {
+        std::cerr << "Bind failed" << std::endl;
+        close(sockfd);
+        return -1;
+    }
+
+    // 接收数据
+    sockaddr_in client_addr{};
+    socklen_t client_len = sizeof(client_addr);
+    char buffer[BUFFER_SIZE];
+
+    while (true)
+    {
+        ssize_t bytes_received = recvfrom(
+            sockfd,
+            buffer,
+            BUFFER_SIZE,
+            0,
+            (sockaddr *)&client_addr,
+            &client_len);
+
+        if (bytes_received == BUFFER_SIZE)
+        {
+            // 解析第一个float
+            uint32_t temp1;
+            memcpy(&temp1, buffer, 4);
+            temp1 = ntohl(temp1);
+            float val1;
+            memcpy(&val1, &temp1, 4);
+
+            // 解析第二个float
+            uint32_t temp2;
+            memcpy(&temp2, buffer + 4, 4);
+            temp2 = ntohl(temp2);
+            float val2;
+            memcpy(&val2, &temp2, 4);
+
+            std::cout << "收到数据: "
+                      << "滑块1=" << val1
+                      << ", 滑块2=" << val2
+                      << std::endl;
+
+            double servoduty_ns = (val1) / 100 * servo.readPeriod() + 1520000;
+            servo.setDutyCycle(servoduty_ns);
+
+            motorController[0]->updateduty(val2);
+            motorController[1]->updateduty(val2);
+        }
+        else
+        {
+            std::cerr << "Invalid data size" << std::endl;
+        }
+    }
+
+    close(sockfd);
+    return 0;
+}