From d251f086707c5162d0f904184b02db79760c1f51 Mon Sep 17 00:00:00 2001
From: spdis <spdis@spdis.space>
Date: Sat, 13 Jun 2026 14:00:34 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=E5=9B=9B=E4=B8=AA=E5=85=B3?=
 =?UTF-8?q?=E9=94=AEbug:=20dest=5Ffps=E9=99=90=E9=80=9F/=E5=BA=95=E8=A1=8C?=
 =?UTF-8?q?=E8=B6=8A=E7=95=8C/255=E5=BA=94=E4=B8=BA-1/=E5=88=A0=E9=99=A4de?=
 =?UTF-8?q?bug=E6=96=87=E4=BB=B6=E9=87=8D=E8=BD=BD?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 main/main.cpp    | 19 ++++++++---------
 pack_code.sh     | 53 ++++++++++++++++++++++++++++++++++++++++++++++++
 src/camera.cpp   |  2 +-
 src/image_cv.cpp | 17 +++++++++++++++-
 4 files changed, 78 insertions(+), 13 deletions(-)
 create mode 100644 pack_code.sh

diff --git a/main/main.cpp b/main/main.cpp
index 8b0f2a7..a3e5425 100644
--- a/main/main.cpp
+++ b/main/main.cpp
@@ -33,27 +33,24 @@ int main(void)
     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;
 
-    if (CameraInit(0, dest_fps, 320, 240) < 0) {
+    int frame_delay = CameraInit(0, dest_fps, 320, 240);
+    if (frame_delay < 0) {
         std::cerr << "CameraInit failed" << std::endl;
         return -1;
     }
     ControlInit();
     std::cout << "All services started" << std::endl;
 
-    int tick = 0;
     while (running.load())
     {
+        auto t_start = std::chrono::steady_clock::now();
         CameraHandler();
-
-        if (++tick % 7 == 0) {
-            g_cfg.debug = readFlag(debug_file);
-        }
-
-        if (g_cfg.debug) {
-            cfg_load_all();
-        }
-
         target_speed = g_cfg.speed;
+
+        auto elapsed = std::chrono::steady_clock::now() - t_start;
+        auto remain = std::chrono::milliseconds(frame_delay) - elapsed;
+        if (remain > std::chrono::milliseconds(1))
+            std::this_thread::sleep_for(remain);
     }
 
     std::cout << "Stopping..." << std::endl;
diff --git a/pack_code.sh b/pack_code.sh
new file mode 100644
index 0000000..13e8c87
--- /dev/null
+++ b/pack_code.sh
@@ -0,0 +1,53 @@
+#!/bin/bash
+# pack_code.sh — 将所有代码源文件打包为单个 txt
+# 用法: bash pack_code.sh [输出文件名]
+# 默认输出: smartcar2_code.txt
+
+OUT="${1:-smartcar2_code.txt}"
+> "$OUT"
+
+# 分隔符
+sep() { echo "" >> "$OUT"; echo "============================================================" >> "$OUT"; }
+
+# 逐个追入，带文件路径头
+append_file() {
+    local f="$1"
+    if [ ! -f "$f" ]; then return; fi
+    sep
+    echo "// FILE: $f" >> "$OUT"
+    sep
+    cat "$f" >> "$OUT"
+}
+
+# ── src/ 源文件 ──
+for f in src/*.cpp src/*.hpp; do
+    [ -f "$f" ] && append_file "$f"
+done
+
+# ── lib/ 头文件 ──
+for f in lib/*.h; do
+    [ -f "$f" ] && append_file "$f"
+done
+
+# ── main/ ──
+append_file main/main.cpp
+append_file main/CMakeLists.txt
+
+# ── 顶层构建/配置 ──
+append_file CMakeLists.txt
+append_file cross.cmake
+append_file ctl.sh
+append_file start.sh
+append_file .gitignore
+
+# ── 独立 demo ──
+append_file encoder_brake_demo.cpp
+
+# ── 统计 ──
+LINES=$(wc -l < "$OUT")
+FILES=$(grep -c "// FILE:" "$OUT")
+echo ""
+echo "=== 打包完成 ==="
+echo "  输出: $OUT"
+echo "  文件数: $FILES"
+echo "  总行数: $LINES"
diff --git a/src/camera.cpp b/src/camera.cpp
index 8be4b30..354ac42 100644
--- a/src/camera.cpp
+++ b/src/camera.cpp
@@ -437,7 +437,7 @@ int CameraHandler(void)
     if (g_cfg.start) {
         int foresee = (int)g_cfg.foresee;
         int check_row = foresee / calc_scale;
-        if (check_row >= 0 && check_row < line_tracking_height && mid_line[check_row] != 255) {
+        if (check_row >= 0 && check_row < line_tracking_height && mid_line[check_row] != -1) {
             double deviation = mid_line[check_row] * calc_scale - newWidth / 2;
             deviation -= g_cfg.center_bias;
             g_steer_deviation = deviation / (newWidth / 2.0);
diff --git a/src/image_cv.cpp b/src/image_cv.cpp
index 9ab62af..bbe4b63 100644
--- a/src/image_cv.cpp
+++ b/src/image_cv.cpp
@@ -261,7 +261,8 @@ void image_main()
     }
 
     // ── 6. 中线计算 + 丢线补全 ─────
-    for (int row = line_tracking_height - 1; row >= 10; --row)
+    // 从倒数第二行开始向上，底行(row=height-1)单独兜底避免 mid_line[row+1] 越界
+    for (int row = line_tracking_height - 2; row >= 10; --row)
     {
         // ── 6a. 丢线补全 ──────────────────────────────
         if (left_line[row] == -1 && right_line[row] == -1)
@@ -290,4 +291,18 @@ void image_main()
             mid_line[row] = (left_line[row] + right_line[row]) / 2;
         }
     }
+    // 底行兜底：正常计算，丢线时用图像中心
+    {
+        const int row = line_tracking_height - 1;
+        if (left_line[row] == -1 && right_line[row] == -1)
+        {
+            mid_line[row] = line_tracking_width / 2;
+            left_line[row]  = 0;
+            right_line[row] = line_tracking_width - 1;
+        }
+        else
+        {
+            mid_line[row] = (left_line[row] + right_line[row]) / 2;
+        }
+    }
 }