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

2026-06-21 14:15:53 +08:00
parent 95a46c130d
commit 40d5cb1604
11 changed files with 234 additions and 147 deletions
@@ -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;
+}