修复四个关键bug: dest_fps限速/底行越界/255应为-1/删除debug文件重载

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;