v10模型集成+去抖+架构重构: 单线程+背景采集, ControlUpdate单出口电机控制, I2C音频持久fd, 斑马线接近去抖

lib/camera.h

@@ -1,11 +1,3 @@
-/*
- * @Author: ilikara 3435193369@qq.com
- * @Date: 2024-10-10 08:28:56
- * @LastEditors: ilikara 3435193369@qq.com
- * @LastEditTime: 2025-01-07 09:35:04
- * @FilePath: /smartcar/lib/camera.h
- * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
- */
 #ifndef CAMERA_H_
 #define CAMERA_H_
 
@@ -22,6 +14,7 @@
 #include <linux/fb.h>
 #include <algorithm>
 #include <chrono>
+#include <thread>
 
 #include "image_cv.h"
 #include "PIDController.h"
@@ -29,16 +22,15 @@
 #include "global.h"
 #include "frame_buffer.h"
 #include "serial.h"
+#include "control.h"
 
 int CameraInit(uint8_t camera_id, double dest_fps, int width, int height);
 int CameraHandler(void);
-void streamCapture(void);
 void cameraDeInit(void);
 
-extern bool streamCaptureRunning;
-
 extern double kp;
 extern double ki;
 extern double kd;
+extern double g_steer_deviation;
 
-#endif
+#endif

lib/control.h

@@ -8,11 +8,14 @@
 #include "serial.h"
 
 void ControlInit();
-void ControlMain();
+void ControlUpdate(double speed, bool zebra_block);
 void ControlExit();
 
 extern double mortor_kp;
 extern double mortor_ki;
 extern double mortor_kd;
 
-#endif
+extern GPIO mortorEN;
+extern MotorController *motorController[2];
+
+#endif

lib/global.h

@@ -18,6 +18,7 @@ const std::string start_file = "./start";
 const std::string showImg_file = "./showImg";
 const std::string destfps_file = "./destfps";
 const std::string foresee_file = "./foresee";
+const std::string zebrasee_file = "./zebrasee";
 const std::string saveImg_file = "./saveImg";
 const std::string speed_file = "./speed";
 const std::string deadband_file = "./deadband";

lib/zebra_detect.h

@@ -0,0 +1,16 @@
+/*
+ * zebra_detect.h — 斑马线检测函数
+ * ================================
+ * 输入图片 → 返回是否有人行横道 + 距离
+ */
+#pragma once
+
+#include <opencv2/opencv.hpp>
+
+struct ZebraResult
+{
+    bool detected;       // true = 检测到斑马线
+    int  distance_px;    // 斑马线下沿距图像下边框的像素距离, -1 = 未检测到
+};
+
+ZebraResult detect_zebra_crossing(const cv::Mat &bgr_frame);