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fix: boost改为固定26 + 删除死代码

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- motor_update: boost从乘法改为固定值26
- 删除废弃的font_bitmap.h中文渲染代码(已改用PNG)
- 移除无源码的lcd_test编译目标
- 设备speed=20
This commit is contained in:
spdis
2026-07-06 17:11:15 +08:00
parent 8ee66fe444
commit e720009794
9 changed files with 1317 additions and 1391 deletions
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src/global.cpp
+66 -66
View File
@@ -1,66 +1,66 @@
#include "global.h"
#include <fstream>
CfgCache g_cfg;
double target_speed;
double readDoubleFromFile(const std::string &filename)
{
std::ifstream file(filename);
double value = 0.0;
if (file.is_open()) { file >> value; file.close(); }
return value;
}
bool readFlag(const std::string &filename)
{
std::ifstream file(filename);
int flag = 0;
if (file.is_open()) { file >> flag; file.close(); }
return flag;
}
void cfg_load_all()
{
g_cfg.speed = readDoubleFromFile(speed_file);
g_cfg.foresee = readDoubleFromFile(foresee_file);
g_cfg.foresee_lost_scale = readDoubleFromFile(foresee_lost_scale_file);
g_cfg.sharp_turn_scale = readDoubleFromFile(sharp_turn_scale_file);
g_cfg.zebrasee = readDoubleFromFile(zebrasee_file);
g_cfg.deadband = readDoubleFromFile(deadband_file);
g_cfg.steer_gain = readDoubleFromFile(steer_gain_file);
g_cfg.center_bias = readDoubleFromFile(center_bias_file);
g_cfg.start = readFlag(start_file);
g_cfg.showImg = readFlag(showImg_file);
g_cfg.debug = readFlag(debug_file);
g_cfg.cone_speed = readDoubleFromFile(cone_speed_file);
g_cfg.cone_min_frames = (int)readDoubleFromFile(cone_min_frames_file);
g_cfg.cone_margin = (int)readDoubleFromFile(cone_margin_file);
g_cfg.cone_thresh = readDoubleFromFile(cone_thresh_file);
g_cfg.cone_avoid_gain = readDoubleFromFile(cone_avoid_gain_file);
g_cfg.cone_avoid_range = (int)readDoubleFromFile(cone_avoid_range_file);
g_cfg.cone_hold_frames = (int)readDoubleFromFile(cone_hold_frames_file);
g_cfg.cone_return_gain = readDoubleFromFile(cone_return_gain_file);
g_cfg.cone_return_frames = (int)readDoubleFromFile(cone_return_frames_file);
g_cfg.brake_scale = readDoubleFromFile(brake_scale_file);
g_cfg.brake_max = readDoubleFromFile(brake_max_file);
g_cfg.curve_slope = readDoubleFromFile(curve_slope_file);
g_cfg.curve_min = readDoubleFromFile(curve_min_file);
g_cfg.lidar_thresh = (int)readDoubleFromFile(lidar_thresh_file);
g_cfg.lidar_pre = (int)readDoubleFromFile(lidar_pre_file);
g_cfg.lidar_near = (int)readDoubleFromFile(lidar_near_file);
g_cfg.lidar_far = (int)readDoubleFromFile(lidar_far_file);
g_cfg.lidar_near_start = (int)readDoubleFromFile(lidar_near_start_file);
g_cfg.lidar_near_end = (int)readDoubleFromFile(lidar_near_end_file);
g_cfg.lidar_far_span = (int)readDoubleFromFile(lidar_far_span_file);
g_cfg.lidar_min_frames = (int)readDoubleFromFile(lidar_min_frames_file);
g_cfg.lidar_avoid_gain = readDoubleFromFile(lidar_avoid_gain_file);
g_cfg.lidar_avoid_range = (int)readDoubleFromFile(lidar_avoid_range_file);
g_cfg.lidar_speed = readDoubleFromFile(lidar_speed_file);
g_cfg.lidar_hold_frames = (int)readDoubleFromFile(lidar_hold_frames_file);
g_cfg.lidar_enable = (int)readDoubleFromFile(lidar_enable_file);
}
#include "global.h"
#include <fstream>
CfgCache g_cfg;
double target_speed;
double readDoubleFromFile(const std::string &filename)
{
std::ifstream file(filename);
double value = 0.0;
if (file.is_open()) { file >> value; file.close(); }
return value;
}
bool readFlag(const std::string &filename)
{
std::ifstream file(filename);
int flag = 0;
if (file.is_open()) { file >> flag; file.close(); }
return flag;
}
void cfg_load_all()
{
g_cfg.speed = readDoubleFromFile(speed_file);
g_cfg.foresee = readDoubleFromFile(foresee_file);
g_cfg.foresee_lost_scale = readDoubleFromFile(foresee_lost_scale_file);
g_cfg.sharp_turn_scale = readDoubleFromFile(sharp_turn_scale_file);
g_cfg.zebrasee = readDoubleFromFile(zebrasee_file);
g_cfg.deadband = readDoubleFromFile(deadband_file);
g_cfg.steer_gain = readDoubleFromFile(steer_gain_file);
g_cfg.center_bias = readDoubleFromFile(center_bias_file);
g_cfg.start = readFlag(start_file);
g_cfg.showImg = readFlag(showImg_file);
g_cfg.debug = readFlag(debug_file);
g_cfg.cone_speed = readDoubleFromFile(cone_speed_file);
g_cfg.cone_min_frames = (int)readDoubleFromFile(cone_min_frames_file);
g_cfg.cone_margin = (int)readDoubleFromFile(cone_margin_file);
g_cfg.cone_thresh = readDoubleFromFile(cone_thresh_file);
g_cfg.cone_avoid_gain = readDoubleFromFile(cone_avoid_gain_file);
g_cfg.cone_avoid_range = (int)readDoubleFromFile(cone_avoid_range_file);
g_cfg.cone_hold_frames = (int)readDoubleFromFile(cone_hold_frames_file);
g_cfg.cone_return_gain = readDoubleFromFile(cone_return_gain_file);
g_cfg.cone_return_frames = (int)readDoubleFromFile(cone_return_frames_file);
g_cfg.brake_scale = readDoubleFromFile(brake_scale_file);
g_cfg.brake_max = readDoubleFromFile(brake_max_file);
g_cfg.curve_slope = readDoubleFromFile(curve_slope_file);
g_cfg.curve_min = readDoubleFromFile(curve_min_file);
g_cfg.lidar_thresh = (int)readDoubleFromFile(lidar_thresh_file);
g_cfg.lidar_pre = (int)readDoubleFromFile(lidar_pre_file);
g_cfg.lidar_near = (int)readDoubleFromFile(lidar_near_file);
g_cfg.lidar_far = (int)readDoubleFromFile(lidar_far_file);
g_cfg.lidar_near_start = (int)readDoubleFromFile(lidar_near_start_file);
g_cfg.lidar_near_end = (int)readDoubleFromFile(lidar_near_end_file);
g_cfg.lidar_far_span = (int)readDoubleFromFile(lidar_far_span_file);
g_cfg.lidar_min_frames = (int)readDoubleFromFile(lidar_min_frames_file);
g_cfg.lidar_avoid_gain = readDoubleFromFile(lidar_avoid_gain_file);
g_cfg.lidar_avoid_range = (int)readDoubleFromFile(lidar_avoid_range_file);
g_cfg.lidar_speed = readDoubleFromFile(lidar_speed_file);
g_cfg.lidar_hold_frames = (int)readDoubleFromFile(lidar_hold_frames_file);
g_cfg.lidar_enable = (int)readDoubleFromFile(lidar_enable_file);
}