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
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spdis
+35
-124
@@ -4,14 +4,12 @@
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#include <string>
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#include <csignal>
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#include <atomic>
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#include <chrono>
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#include <thread>
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#include "global.h"
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#include "camera.h"
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#include "control.h"
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#include "Timer.h"
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#include "serial.h"
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#include "encoder.h"
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#include "video.h"
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std::atomic<bool> running(true);
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void signalHandler(int signal)
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@@ -21,129 +19,42 @@ void signalHandler(int signal)
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int main(void)
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{
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// Video video("test.mp4", 30);
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// // 获取帧缓冲区设备信息
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// int fb = open("/dev/fb0", O_RDWR);
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// if (fb == -1)
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// {
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// std::cerr << "无法打开帧缓冲区设备" << std::endl;
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// return -1;
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// }
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// struct fb_var_screeninfo vinfo;
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// ioctl(fb, FBIOGET_VSCREENINFO, &vinfo);
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// // 设置屏幕参数
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// int screenWidth = 160;
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// int screenHeight = 128;
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// int newWidth, newHeight;
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// // 创建帧缓冲区
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// uint16_t *fb_buffer = new uint16_t[screenWidth * screenHeight];
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// int frameCount = 0;
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// cv::Mat frame, resizedFrame, fbImage(screenHeight, screenWidth, CV_8UC3, cv::Scalar(0, 0, 0)); // 帧缓冲区图像
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// int frame_count = 0;
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// video.timer.start();
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// while(1) {
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// video.frameMutex.lock();
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// if(newWidth == 0)
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// {
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// // 保持视频长宽比
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// int videoWidth = video.frame.cols;
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// int videoHeight = video.frame.rows;
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// double aspectRatio = static_cast<double>(videoWidth) / videoHeight;
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// // 根据屏幕大小计算缩放后的宽度和高度
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// if (screenWidth / static_cast<double>(screenHeight) > aspectRatio)
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// {
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// // 屏幕更宽，以高度为基准
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// newHeight = screenHeight;
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// newWidth = static_cast<int>(newHeight * aspectRatio);
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// }
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// else
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// {
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// // 屏幕更高，以宽度为基准
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// newWidth = screenWidth;
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// newHeight = static_cast<int>(newWidth / aspectRatio);
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// }
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// }
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// // 缩放视频到新尺寸
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// cv::resize(video.frame, resizedFrame, cv::Size(newWidth, newHeight));
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// video.frameMutex.unlock();
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// // 将缩放后的图像居中放置在帧缓冲区图像中，填充黑色边框
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// fbImage.setTo(cv::Scalar(0, 0, 0)); // 清空缓冲区（填充黑色）
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// cv::Rect roi((screenWidth - newWidth) / 2, (screenHeight - newHeight) / 2, newWidth, newHeight);
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// resizedFrame.copyTo(fbImage(roi));
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// // 将帧缓冲区图像转换为RGB565格式
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// convertMatToRGB565(fbImage, fb_buffer, screenWidth, screenHeight);
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// // 写入帧缓冲区
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// lseek(fb, 0, SEEK_SET);
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// write(fb, fb_buffer, screenWidth * screenHeight * 2);
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// std::this_thread::sleep_for(std::chrono::milliseconds(30));
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// }
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std::signal(SIGINT, signalHandler);
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double dest_fps = readDoubleFromFile(destfps_file);
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int dest_frame_duration = CameraInit(0, dest_fps, 320, 240);
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printf("%d\n", dest_frame_duration);
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if (dest_frame_duration != -1)
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{
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streamCaptureRunning = true;
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std::thread camworker = std::thread(streamCapture);
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std::cout << "Stream Capture Service started!\n";
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ControlInit();
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std::cout << "Control Initialized!\n";
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if (dest_fps <= 0) dest_fps = 30.0;
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Timer CameraTimer(dest_frame_duration, std::bind(CameraHandler));
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Timer MortorTimer(8, std::bind(ControlMain));
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CameraTimer.start();
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std::cout << "Camera Service started!\n";
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MortorTimer.start();
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std::cout << "Control Service started!\n";
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// 主循环，直到用户输入 Ctrl+C
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while (running.load())
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{
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std::this_thread::sleep_for(std::chrono::milliseconds(500));
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target_speed = readDoubleFromFile(speed_file);
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mortor_kp = readDoubleFromFile(mortor_kp_file);
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mortor_ki = readDoubleFromFile(mortor_ki_file);
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mortor_kd = readDoubleFromFile(mortor_kd_file);
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kp = readDoubleFromFile(kp_file);
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ki = readDoubleFromFile(ki_file);
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kd = readDoubleFromFile(kd_file);
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// vofa_image(1, 160*120, 160, 120, Format_Grayscale8, (char*)IMG);
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}
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std::cout << "Stopping!\n";
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std::this_thread::sleep_for(std::chrono::milliseconds(500));
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CameraTimer.stop();
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std::cout << "Camera Timer stopped!\n";
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MortorTimer.stop();
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std::cout << "Control Timer stopped!\n";
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ControlExit();
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std::cout << "Control Service stopped!\n";
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streamCaptureRunning = false;
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if (camworker.joinable())
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{
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camworker.join();
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}
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cameraDeInit();
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std::cout << "Camera Service stopped!\n";
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if (CameraInit(0, dest_fps, 320, 240) < 0) {
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std::cerr << "CameraInit failed" << std::endl;
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return -1;
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}
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ControlInit();
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std::cout << "All services started (single-thread mode)" << std::endl;
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int tick = 0;
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while (running.load())
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{
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if (CameraHandler() < 0) {
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std::this_thread::sleep_for(std::chrono::milliseconds(5));
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continue;
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}
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if (++tick % 15 == 0)
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{
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target_speed = readDoubleFromFile(speed_file);
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mortor_kp = readDoubleFromFile(mortor_kp_file);
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mortor_ki = readDoubleFromFile(mortor_ki_file);
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mortor_kd = readDoubleFromFile(mortor_kd_file);
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kp = readDoubleFromFile(kp_file);
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ki = readDoubleFromFile(ki_file);
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kd = readDoubleFromFile(kd_file);
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}
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}
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std::cout << "Stopping..." << std::endl;
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std::this_thread::sleep_for(std::chrono::milliseconds(500));
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ControlExit();
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cameraDeInit();
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std::cout << "Stopped." << std::endl;
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return 0;
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}
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}
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