From 06a73b0f02ddd8b8073cc98bd6aea403ba7439b6 Mon Sep 17 00:00:00 2001
From: spdis <spdis@spdis.space>
Date: Mon, 15 Jun 2026 11:18:52 +0800
Subject: [PATCH] =?UTF-8?q?=E5=88=A0=E9=99=A4dest=5Ffps=E6=89=8B=E5=8A=A8s?=
 =?UTF-8?q?leep+=E6=B8=85=E7=90=86CameraInit=E5=8F=82=E6=95=B0+=E4=BF=AE?=
 =?UTF-8?q?=E5=A4=8Dcone=E6=9C=AA=E7=94=A8=E5=8F=98=E9=87=8Fwarning?=
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---
 lib/camera.h   |  2 +-
 main/main.cpp  | 30 +++++++-----------------------
 src/camera.cpp |  6 ++----
 3 files changed, 10 insertions(+), 28 deletions(-)

diff --git a/lib/camera.h b/lib/camera.h
index 378342a..e49872a 100644
--- a/lib/camera.h
+++ b/lib/camera.h
@@ -9,7 +9,7 @@
 #include "frame_buffer.h"
 #include "control.h"
 
-int CameraInit(int camera_id, double dest_fps);
+int CameraInit(int camera_id);
 int CameraHandler(void);
 void cameraDeInit(void);
 
diff --git a/main/main.cpp b/main/main.cpp
index 4077769..1c4c0d6 100644
--- a/main/main.cpp
+++ b/main/main.cpp
@@ -1,56 +1,40 @@
 #include <iostream>
-#include <fstream>
 #include <opencv2/opencv.hpp>
-#include <string>
 #include <csignal>
 #include <atomic>
-#include <chrono>
 #include <thread>
+#include <chrono>
 
 #include "global.h"
 #include "camera.h"
 #include "control.h"
 
 std::atomic<bool> running(true);
-void signalHandler(int signal)
-{
-    running.store(false);
-}
+void signalHandler(int) { running.store(false); }
 
 int main(void)
 {
     std::signal(SIGINT, signalHandler);
 
-    double dest_fps = readDoubleFromFile(destfps_file);
-    if (dest_fps <= 0) dest_fps = 30.0;
-
     cfg_load_all();
 
     double avoid_gain_val  = readDoubleFromFile(cone_avoid_gain_file);
     int    avoid_range_val = (int)readDoubleFromFile(cone_avoid_range_file);
     int    hold_frames_val = (int)readDoubleFromFile(cone_hold_frames_file);
-    if (avoid_gain_val > 0)        g_cfg.cone_avoid_gain  = avoid_gain_val;
-    if (avoid_range_val > 0)       g_cfg.cone_avoid_range = avoid_range_val;
-    if (hold_frames_val > 0)       g_cfg.cone_hold_frames  = hold_frames_val;
+    if (avoid_gain_val > 0)   g_cfg.cone_avoid_gain  = avoid_gain_val;
+    if (avoid_range_val > 0)  g_cfg.cone_avoid_range = avoid_range_val;
+    if (hold_frames_val > 0)  g_cfg.cone_hold_frames  = hold_frames_val;
 
-    int frame_delay = CameraInit(0, dest_fps);
-    if (frame_delay < 0) {
+    if (CameraInit(0) < 0) {
         std::cerr << "CameraInit failed" << std::endl;
         return -1;
     }
     ControlInit();
     std::cout << "All services started" << std::endl;
 
-    while (running.load())
-    {
-        auto t_start = std::chrono::steady_clock::now();
+    while (running.load()) {
         CameraHandler();
         target_speed = g_cfg.speed;
-
-        auto elapsed = std::chrono::steady_clock::now() - t_start;
-        auto remain = std::chrono::milliseconds(frame_delay) - elapsed;
-        if (remain > std::chrono::milliseconds(1))
-            std::this_thread::sleep_for(remain);
     }
 
     std::cout << "Stopping..." << std::endl;
diff --git a/src/camera.cpp b/src/camera.cpp
index d7e6fe9..6fd6c82 100644
--- a/src/camera.cpp
+++ b/src/camera.cpp
@@ -124,7 +124,7 @@ static void play_zebra_audio()
 // ═══════════════════════════════════════════════════════════
 //  CameraInit / cameraDeInit
 // ═══════════════════════════════════════════════════════════
-int CameraInit(int camera_id, double dest_fps)
+int CameraInit(int camera_id)
 {
     servo.setPeriod(3000000);
     servo.setDutyCycle(1500000);
@@ -178,8 +178,7 @@ int CameraInit(int camera_id, double dest_fps)
         printf("[MODEL] Mild v12 模型已加载\n");
 
     i2c_audio_open();
-
-    return (int)(1000.0 / std::min(fps, dest_fps));
+    return 0;
 }
 
 void cameraDeInit(void)
@@ -429,7 +428,6 @@ static void cone_detect_and_deform()
     int src_col = g_cone_confirmed ? cone_col : g_cone_hold_src_col;
     if (src_row <= 10) return;
 
-    double total_rows = src_row - 10;
     double rng    = (double)g_cfg.cone_avoid_range;
     double half_w = line_tracking_width / 2.0;
     double ms     = mid_line[src_row];