清理编码器+死代码+可读性整理: 删除ENCODER类(含UB析构), MotorController简化为PWM+GPIO裸控制器, 移除mortor_kp/ki/kd全局变量, 排除vl53l0x/zebra_detect死代码, 修复image_cv行列写反, 清理无关include

Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent)

Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>

main/CMakeLists.txt

@@ -1,4 +1,13 @@
 # 主程序
 add_executable(smartcar_demo1 main.cpp)
 
+# 暂时排除激光测距（未使用），保留源文件
+set(EXCLUDE_VL53L0X vl53l0x.cpp)
+
+# 排除死代码：斑马线传统检测（已由 nanodet 模型替代）、编码器采集（开环控制不需要）
+set(EXCLUDE_DEAD zebra_detect.cpp encoder.cpp)
+
+# 从静态库源文件列表中移除
+list(FILTER DIR_SRCS EXCLUDE REGEX "(${EXCLUDE_VL53L0X}|${EXCLUDE_DEAD})")
+
 target_link_libraries(smartcar_demo1 common_lib ${OpenCV_LIBS})

main/main.cpp

@@ -24,31 +24,29 @@ int main(void)
     double dest_fps = readDoubleFromFile(destfps_file);
     if (dest_fps <= 0) dest_fps = 30.0;
 
+    cfg_load_all();
+
     if (CameraInit(0, dest_fps, 320, 240) < 0) {
         std::cerr << "CameraInit failed" << std::endl;
         return -1;
     }
     ControlInit();
-    std::cout << "All services started (single-thread mode)" << std::endl;
+    std::cout << "All services started" << std::endl;
 
     int tick = 0;
     while (running.load())
     {
-        if (CameraHandler() < 0) {
-            std::this_thread::sleep_for(std::chrono::milliseconds(5));
-            continue;
+        CameraHandler();
+
+        if (++tick % 7 == 0) {
+            g_cfg.debug = readFlag(debug_file);
         }
 
-        if (++tick % 15 == 0)
-        {
-            target_speed = readDoubleFromFile(speed_file);
-            mortor_kp   = readDoubleFromFile(mortor_kp_file);
-            mortor_ki   = readDoubleFromFile(mortor_ki_file);
-            mortor_kd   = readDoubleFromFile(mortor_kd_file);
-            kp          = readDoubleFromFile(kp_file);
-            ki          = readDoubleFromFile(ki_file);
-            kd          = readDoubleFromFile(kd_file);
+        if (g_cfg.debug) {
+            cfg_load_all();
         }
+
+        target_speed = g_cfg.speed;
     }
 
     std::cout << "Stopping..." << std::endl;