模型每类阈值+配置热重载+雷达纯距离触发+速度min不叠加+弯道参数化

main/CMakeLists.txt

@@ -1,3 +1,6 @@
 # 主程序
 add_executable(smartcar_demo1 main.cpp)
-target_link_libraries(smartcar_demo1 common_lib ${OpenCV_LIBS})
+target_link_libraries(smartcar_demo1 common_lib ${OpenCV_LIBS})
+
+add_executable(lidar_test lidar_test.cpp)
+target_link_libraries(lidar_test common_lib)

main/lidar_test.cpp

@@ -0,0 +1,49 @@
+#include <cstdio>
+#include <csignal>
+#include <atomic>
+#include <unistd.h>
+#include "vl53l0x.h"
+
+static std::atomic<bool> running(true);
+static void on_signal(int) { running.store(false); }
+
+int main()
+{
+    setvbuf(stdout, NULL, _IONBF, 0);
+    std::signal(SIGINT, on_signal);
+    std::signal(SIGTERM, on_signal);
+
+    VL53L0X sensor;
+    if (!sensor.init()) {
+        fprintf(stderr, "VL53L0X init failed\n");
+        return 1;
+    }
+
+    sensor.startMeasure();
+
+    printf("lidar_test running, Ctrl+C to stop\n");
+    printf("%-8s %-8s %-10s\n", "cnt", "range_mm", "status");
+
+    int count = 0;
+    VL53L0X_RangingMeasurementData_t data;
+
+    while (running.load()) {
+        if (!sensor.readResult(data)) {
+            printf("%-8d %-8s %-10s\n", ++count, "ERR", "timeout");
+            sensor.startMeasure();
+            usleep(50000);
+            continue;
+        }
+
+        int range = data.RangeMilliMeter;
+        const char* st = (data.RangeStatus == 0) ? "OK" : "SIGMA";
+        printf("%-8d %-8d %-10s\n", ++count, range, st);
+
+        sensor.startMeasure();
+        usleep(30000);
+    }
+
+    sensor.stop();
+    printf("stopped\n");
+    return 0;
+}

main/main.cpp

@@ -20,22 +20,6 @@ int main(void)
 
     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;
-
-    double lidar_gain_val  = readDoubleFromFile(lidar_avoid_gain_file);
-    int    lidar_range_val = (int)readDoubleFromFile(lidar_avoid_range_file);
-    int    lidar_hold_val  = (int)readDoubleFromFile(lidar_hold_frames_file);
-    int    lidar_thresh_val = (int)readDoubleFromFile(lidar_thresh_file);
-    if (lidar_gain_val > 0)   g_cfg.lidar_avoid_gain  = lidar_gain_val;
-    if (lidar_range_val > 0)  g_cfg.lidar_avoid_range = lidar_range_val;
-    if (lidar_hold_val > 0)   g_cfg.lidar_hold_frames = lidar_hold_val;
-    if (lidar_thresh_val > 0) g_cfg.lidar_thresh      = lidar_thresh_val;
-
     if (CameraInit(0) < 0) {
         std::cerr << "CameraInit failed" << std::endl;
         return -1;