替换 Mild v12 模型 + 同事编码器刹车红绿灯状态机合并

AGENTS.md

@@ -0,0 +1,94 @@
+# AGENTS.md — SmartCar Demo
+
+## Project overview
+
+LoongArch64 embedded autonomous smart car using OpenCV + NanoDet V10 model.
+Runs on-device (Loongson board) with cross-compilation from x86 Linux.
+
+## Build
+
+```sh
+# On the build host (x86 Linux):
+mkdir build && cd build
+cmake ..
+make
+```
+
+- **Cross-compilation target**: LoongArch64 (`-march=loongarch64`)
+- **Toolchain**: `/opt/loongson-gnu-toolchain-8.3-x86_64-loongarch64-linux-gnu-rc1.6`
+- **C++ standard**: 17
+- **OpenCV path** (device-side): `/mnt/d/PPPProgram/smartcar/opencv_device/`
+- `cross.cmake` is included **before** `cmake_minimum_required` — this is intentional.
+
+## Project structure
+
+| Directory | Purpose |
+|-----------|---------|
+| `src/` | Source → compiled into `common_lib` (static lib) |
+| `lib/` | Public headers only (no .cpp) |
+| `main/` | Entry point → executable `smartcar_demo1` |
+| `docs/` | Architecture docs (`ARCHITECTURE.md` is the design reference) |
+| `build/` | CMake build output (gitignored) |
+
+**Executable name**: `smartcar_demo1` (the CMake project name `smartcar_demo2` is different — don't assume they match).
+
+## Excluded modules
+
+These source files exist but are **excluded from build**:
+
+- `vl53l0x.cpp` — laser ranging module, hardware not connected
+- `zebra_detect.cpp` — classic zebra-crossing detection, replaced by NanoDet model
+- `encoder.cpp` — referenced in exclusion list but file does **not** exist in repo
+
+## Device-side operation
+
+The onboard binary is controlled via text files in the working directory — no CLI args.
+
+```sh
+# On device:
+sh ctl.sh init          # initialize GPIO/PWM pins
+sh ctl.sh start         # start the demo
+sh ctl.sh stop          # stop and zero PWM
+```
+
+`ctl.sh` sets default config values by writing to files like `./speed`, `./kp`, `./steer_gain`, etc. The running binary reads these files. `start.sh` uses `LD_PRELOAD=./gpio_fix_final.so` (GPIO workaround).
+
+## Configuration system
+
+All config is via single-value text files in the working directory:
+
+- `./speed` (double) — target speed
+- `./start` (0/1) — motor enable switch
+- `./debug` (0/1) — when 1, reloads all config files every 7 frames
+- `./showImg` (0/1) — LCD display toggle
+- `./deadband`, `./steer_gain`, `./center_bias` — steering tuning
+- `./foresee` — look-ahead row for steering
+- `./zebrasee` — zebra crossing near-threshold
+- `./destfps` — target framerate
+- `./kp`, `./ki`, `./kd` — PID gains (currently **not used**; motor is open-loop)
+- `./mortor_kp`, `./mortor_ki`, `./mortor_kd` — motor encoder PID (spelling `mortor` is intentional)
+
+## Architecture
+
+9-step per-frame pipeline in `CameraHandler()` (`src/camera.cpp`):
+1. Capture frame (640×480 MJPEG → BGR)
+2. Optionally save image
+3. Vision line tracking (80×60 downscale → HSV+Otsu → floodFill → mid_line[60])
+4. Model inference every 2nd frame (NanoDet V10, 4 classes: cone/red/green/zebra)
+5. Zebra crossing state machine (NORMAL→STOP(4s)→COOLDOWN(5s))
+6. Steering servo control (PWM, deadband-filtered)
+7. Motor control (open-loop duty cycle, curve-based slowdown in turns)
+8. LCD rendering (`/dev/fb0` mmap)
+9. FPS logging
+
+**Key detail**: Motor control is **open-loop** — `MotorController::updateSpeed()` and encoder PID exist in code but are never called from the main loop. Only `updateduty()` (direct PWM) is used.
+
+Currently **cones (cls=0), red lights (cls=1), and green lights (cls=2)** are detected by the model but ignored in decision logic.
+
+## Style and conventions
+
+- C++ files have **no copyright headers** and **minimal comments** — comments are ascii-box-style block comments when present
+- Header guards use the form `#ifndef FILENAME_H_` / `#define FILENAME_H_`
+- Global state uses `extern` globals (e.g., `g_cfg`, `g_steer_deviation`, `g_boxes`)
+- `lib/` contains .h files only; `src/` contains .cpp files only
+- No unit tests, no CI, no linting — this is embedded code tested on-device