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