删除dest_fps手动sleep+清理CameraInit参数+修复cone未用变量warning

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;