死代码清理+越界修复+构建去重: 注释PIDController/删除TimerVideo, floodFill半径10→5, ctl.sh删GPIO66/75, CMake双重互斥合并

CMakeLists.txt

@@ -27,8 +27,9 @@ aux_source_directory(src DIR_SRCS)
 
 # 排除暂不使用的模块（源文件保留）
 #   vl53l0x.cpp   — 激光测距, 硬件未接
-#   zebra_detect.cpp — 经典斑马线检测, 已由 nanodet 模型替代
-list(FILTER DIR_SRCS EXCLUDE REGEX "(vl53l0x\\.cpp|zebra_detect\\.cpp)")
+#   zebra_detect.cpp — 经典斑马线检测, 已被 Mild 模型替代
+#   PIDController.cpp — PID 类未使用 (电机开环直驱)
+list(FILTER DIR_SRCS EXCLUDE REGEX "(vl53l0x\\.cpp|zebra_detect\\.cpp|PIDController\\.cpp)")
 
 # 静态库 + 主程序
 add_library(common_lib STATIC ${DIR_SRCS})

ctl.sh

@@ -8,20 +8,17 @@ PWMPERIOD=50000
 
 init_pins() {
     echo "[demo] 初始化引脚..."
-    for pin in 73 12 13 66 67 75 72; do
+    for pin in 73 12 13 67 72; do
         echo $pin > /sys/class/gpio/export 2>/dev/null
     done
     echo out > /sys/class/gpio/gpio73/direction 2>/dev/null
     echo out > /sys/class/gpio/gpio12/direction 2>/dev/null
     echo out > /sys/class/gpio/gpio13/direction 2>/dev/null
-    echo out > /sys/class/gpio/gpio66/direction 2>/dev/null
     echo in  > /sys/class/gpio/gpio67/direction 2>/dev/null
-    echo out > /sys/class/gpio/gpio75/direction 2>/dev/null
     echo in  > /sys/class/gpio/gpio72/direction 2>/dev/null
     echo 1 > /sys/class/gpio/gpio73/value 2>/dev/null
     echo 0 > /sys/class/gpio/gpio12/value 2>/dev/null
     echo 0 > /sys/class/gpio/gpio13/value 2>/dev/null
-    echo 0 > /sys/class/gpio/gpio66/value 2>/dev/null
 
     for ch in 1 2; do
         echo $ch > /sys/class/pwm/pwmchip${PWMCHIP}/export 2>/dev/null

lib/Timer.h

@@ -1,28 +0,0 @@
-#ifndef TIMER_H
-#define TIMER_H
-
-#include <thread>
-#include <chrono>
-#include <atomic>
-#include <functional>
-#include <iostream>
-
-class Timer
-{
-public:
-    Timer(int interval_ms, std::function<void()> task);
-    ~Timer();
-
-    void start();
-    void stop();
-
-private:
-    void run();
-
-    int interval; // Interval in milliseconds
-    std::function<void()> task;
-    std::atomic<bool> running;
-    std::thread worker;
-};
-
-#endif // TIMER_H

lib/video.h

@@ -1,35 +0,0 @@
-#ifndef VIDEO_H_
-#define VIDEO_H_
-
-#include <opencv2/opencv.hpp>
-#include <unistd.h>
-#include <iostream>
-#include <iomanip>
-#include <fcntl.h>
-#include <sys/ioctl.h>
-#include <linux/fb.h>
-
-#include "Timer.h"
-#include "frame_buffer.h"
-
-class Video
-{
-public:
-    Video(const std::string &filename, double fps);
-    ~Video(void);
-
-    Timer timer;
-    cv::Mat frame;
-    std::mutex frameMutex;
-private:
-    cv::VideoCapture cap;
-    cv::Mat fbImage;
-    cv::Mat resizedFrame;
-    void streamCapture(void);
-    int screenHeight, screenWidth;
-    int newWidth, newHeight;
-    int fb;
-    uint16_t *fb_buffer;
-};
-
-#endif

main/CMakeLists.txt

@@ -1,13 +1,3 @@
 # 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})

src/Timer.cpp

@@ -1,36 +0,0 @@
-#include "Timer.h"
-
-Timer::Timer(int interval_ms, std::function<void()> task)
-    : interval(interval_ms), task(task), running(false) {}
-
-Timer::~Timer()
-{
-    stop(); // Ensure the timer is stopped in the destructor
-}
-
-void Timer::start()
-{
-    running = true;
-    worker = std::thread(&Timer::run, this);
-}
-
-void Timer::stop()
-{
-    running = false;
-    if (worker.joinable())
-    {
-        worker.join();
-    }
-}
-
-void Timer::run()
-{
-    while (running)
-    {
-        std::this_thread::sleep_for(std::chrono::milliseconds(interval));
-        if (running)
-        {
-            std::thread(task).detach();
-        }
-    }
-}

src/image_cv.cpp

@@ -129,7 +129,7 @@ cv::Mat find_road(cv::Mat &frame)
 
     // 4. 在种子点位置画一个白色实心圆，确保种子点落在赛道区域内
     //    避免因二值化偶尔在种子位置为黑色导致洪泛失败
-    cv::circle(morphologyExFrame, seedPoint, 10, 255, -1);
+    cv::circle(morphologyExFrame, seedPoint, 5, 255, -1);
 
     // 5. 洪泛填充参数
     cv::Scalar newVal(128);               // 填充值 = 128 (标记为赛道内部)

src/video.cpp

@@ -1,20 +0,0 @@
-#include "video.h"
-
-Video::Video(const std::string &filename, double fps) 
-    : timer(static_cast<int>(1000 / fps), std::bind(&Video::streamCapture, this)), cap(filename)
-{
-    streamCapture();
-}
-
-Video::~Video(void)
-{
-    timer.stop();
-}
-
-void Video::streamCapture(void) 
-{
-    frameMutex.lock();
-    cap.read(frame);
-    frameMutex.unlock();
-}
-