智能小车开源样例运行

环境准备

前置条件

• 按照官方指导文档完成CANN包安装
• CANN版本需要>=5.0.4.alpha001（本教程使用5.04alpha005)

软件准备

源码包：samples: CANN Samples (gitee.com)

模型：cplusplus/contrib/Ascbot/README_CN.md · Ascend/samples - Gitee.com

建议下载模型，权重和配置文件后本地使用atc转换为om文件，直接下载om文件可能会有问题

模型，权重，配置文件直接放在/home/HwHiAiUser/samples/cplusplus/contrib/Ascbot/目录下

转换的om文件放在/home/HwHiAiUser/samples/cplusplus/contrib/Ascbot/model下，注意model文件夹中的.keep不能删除

#检测小车前方是否有跌落危险
atc --model="collision_avoidance_model.prototxt" --weight="collision_avoidance_model.caffemodel" --soc_version=Ascend310 --framework=0 --output="collision_avoidance_model" --insert_op_conf=insert_op_collision_avoidance.cfg

#检测车道线，实现循道行驶
atc --model="road_following_model.prototxt" --weight="road_following_model.caffemodel" --soc_version=Ascend310 --framework=0 --output="road_following_model" --insert_op_conf=insert_op_road_following.cfg

#检测小车前方物体
atc --model="road_object_detection_deploy.prototxt" --weight="road_object_detection_deploy.caffemodel" --soc_version=Ascend310 --framework=0 --output="road_object_detection_deploy" --insert_op_conf=insert_op_road_object_detection_deploy.cfg

样例部署

设置环境变量，以防后面冲突，这里设置临时环境变量

export DDK_PATH=$HOME/Ascend/ascend-toolkit/latest/arm64-linux
export NPU_HOST_LIB=$DDK_PATH/runtime/lib64/stub

#如果是3.0.0版本，此处 DDK_PATH环境变量中的arm64-liunx应修改为 arm64-linux_gcc7.3.0。    

#可以在命令行中执行uname -a，查看开发环境和运行环境的cpu架构。如果回显为x86_64，则为x86架构。如果回显为arm64，则为Arm架构。

编译运行

#切换目录，创建目录用于存放编译文件。
cd $HOME/samples/cplusplus/contrib/Ascbot
mkdir -p build/intermediates/host

#切换到 build/intermediates/host 目录，执行cmake生成编译文件。
cd build/intermediates/host
make clean
cmake ../../../src -DCMAKE_CXX_COMPILER=aarch64-linux-gnu-g++ -DCMAKE_SKIP_RPATH=TRUE**

#执行make命令，生成的可执行文件main在 Ascbot/out 目录下
make

#运行
./main -Channel-1
#后面的Channel参数根据实际情况修改

常见的Error解决办法

1.代码在终端运行，小车没有反应，更换新的wheel.cpp(见附录)，之后在重新编译运行，注意不是只改0x60，建议全部复制粘贴

2.[ERROR] UART Can't open uart0 print!

cd /dev
su root
chmod 777 * #这句输入后有一个报错不用管
chmod 777 t*

3.[ERROR] post_data.ip_address------------- XXX.XXX.XXX.XXX

此问题是没有连接手机端，可以暂时忽略

4.还有其他报错欢迎留言

手机端控制

下载地址：文件分享 (weiyun.com)

先运行./main 文件后，再进行手机连接，代码不能中断，IP使用ifconfig进行查看，需要连在同一个路由器WIFI下。

附录

wheel.cpp

#include <memory>
#include <fstream>
#include <sstream>
#include <stdio.h>
#include <string.h>

#include <unistd.h>
#include <sys/ioctl.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <sys/select.h>
#include <sys/time.h>
#include <errno.h>
#include <string.h>
#include "wheel.h"
const unsigned char slave_addr = 0x40;
const unsigned char stop[70] = {0x00,0x04,0xe2,0xe4,0xe8,0xe0,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x10,0x00,0x00,0x00,0x10,0x00,0x00,0x00,0x10,0x00,0x00,0x00,0x10,0x00,0x00,
0x00,0x10,0x00,0x00,0x00,0x10,0x00,0x00,0x00,0x10,0x00,0x00,0x00,0x10,0x00,0x00,
0x00,0x10,0x00,0x00,0x00,0x10};
wheel::wheel(void)
{
}

wheel::~wheel(void)
{
}

int wheel::wheel_init(void)
{
for(unsigned char i=0;i<70;i++)
{
if(i2c_ctrl.atlas_i2c_write(slave_addr,i,stop[i])!=0)
{
break;
}
}
return 0;
}
int wheel::wheel_left_move(int direction,unsigned char speed)
{
if(speed>0x1f)
speed = 0x1f;
if(direction == 1)
{
INFO_LOG(" wheel left move:direction == 1\n");
i2c_ctrl.atlas_i2c_write(slave_addr,0x14,0x00);//LED3_OFF_L
i2c_ctrl.atlas_i2c_write(slave_addr,0x15,0x00);//LED3_OFF_H
i2c_ctrl.atlas_i2c_write(slave_addr,0x18,4095&0xff);//LED4_OFF_L
i2c_ctrl.atlas_i2c_write(slave_addr,0x19,4095>>8);//LED4_OFF_H
}
else if(direction == -1)
{
INFO_LOG(" wheel left move:direction == -1\n");
i2c_ctrl.atlas_i2c_write(slave_addr,0x14,4095&0xff);//LED3_OFF_L
i2c_ctrl.atlas_i2c_write(slave_addr,0x15,4095>>8);//LED3_OFF_H
i2c_ctrl.atlas_i2c_write(slave_addr,0x18,0x00);//LED4_OFF_L
i2c_ctrl.atlas_i2c_write(slave_addr,0x19,0x00);//LED4_OFF_H
}
//i2c_ctrl.atlas_i2c_write(slave_addr,0x3d,speed);
i2c_ctrl.atlas_i2c_write(slave_addr,0x1c,(speed*120)&0xff);//LED5_OFF_L PWMB
i2c_ctrl.atlas_i2c_write(slave_addr,0x1d,(speed*120)>>8);//LED5_OFF_H
return 0;
}
int wheel::wheel_right_move(int direction,unsigned char speed)
{
if(speed>0x1f)
speed = 0x1f;
if(direction == 1)
{
INFO_LOG(" wheel right move:direction == 1\n");
i2c_ctrl.atlas_i2c_write(slave_addr,0x0c,0x00);//LED1_OFF_L
i2c_ctrl.atlas_i2c_write(slave_addr,0x0d,0x00);//LED1_OFF_H
i2c_ctrl.atlas_i2c_write(slave_addr,0x10,4095&0xff);//LED2_OFF_L
i2c_ctrl.atlas_i2c_write(slave_addr,0x11,4095>>8);//LED2_OFF_H
}
else if(direction == -1)
{
INFO_LOG(" wheel right move:direction == -1\n");
i2c_ctrl.atlas_i2c_write(slave_addr,0x0c,4095&0xff);//LED1_OFF_L
i2c_ctrl.atlas_i2c_write(slave_addr,0x0d,4095>>8);//LED1_OFF_H
i2c_ctrl.atlas_i2c_write(slave_addr,0x10,0x00);//LED2_OFF_L
i2c_ctrl.atlas_i2c_write(slave_addr,0x11,0x00);//LED2_OFF_H
}
//i2c_ctrl.atlas_i2c_write(slave_addr,0x29,speed);
i2c_ctrl.atlas_i2c_write(slave_addr,0x08,(speed*120)&0xff);//LED0_OFF_L PWMA
i2c_ctrl.atlas_i2c_write(slave_addr,0x09,(speed*120)>>8);//LED0_OFF_H
return 0;
}