fix: boost改为固定26 + 删除死代码

- 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

main/CMakeLists.txt

@@ -7,6 +7,3 @@ target_link_libraries(lidar_test common_lib)
 
 add_executable(remote_control remote_control.cpp)
 target_link_libraries(remote_control common_lib)
-
-add_executable(lcd_test lcd_test.cpp)
-target_link_libraries(lcd_test common_lib ${OpenCV_LIBS})

src/camera.cpp

@@ -25,7 +25,6 @@
 #include "camera.h"
 #include "model_v10.hpp"
 #include "vl53l0x.h"
-#include "font_bitmap.h"
 
 #include <fcntl.h>
 #include <unistd.h>
@@ -218,76 +217,6 @@ static void play_zebra_audio()
 }
 
 
-// ═══════════════════════════════════════════════════════════
-//  LCD 中文文字渲染
-//
-//  使用 src/font_bitmap.h 中嵌入的 16x16 字模
-// ═══════════════════════════════════════════════════════════
-static const uint8_t* find_glyph(uint32_t codepoint)
-{
-    for (int i = 0; i < FONT_GLYPH_COUNT; ++i)
-        if (FONT_GLYPHS[i].unicode == codepoint) return FONT_GLYPHS[i].bitmap;
-    return nullptr;
-}
-
-static uint32_t utf8_decode(const char*& p)
-{
-    unsigned char c = static_cast<unsigned char>(*p);
-    if (c == 0) return 0;
-    if ((c & 0x80) == 0) { ++p; return c; }
-    if ((c & 0xE0) == 0xC0) {
-        uint32_t v = c & 0x1F; ++p;
-        v = (v << 6) | (static_cast<unsigned char>(*p++) & 0x3F);
-        return v;
-    }
-    if ((c & 0xF0) == 0xE0) {
-        uint32_t v = c & 0x0F; ++p;
-        v = (v << 6) | (static_cast<unsigned char>(*p++) & 0x3F);
-        v = (v << 6) | (static_cast<unsigned char>(*p++) & 0x3F);
-        return v;
-    }
-    if ((c & 0xF8) == 0xF0) {
-        uint32_t v = c & 0x07; ++p;
-        v = (v << 6) | (static_cast<unsigned char>(*p++) & 0x3F);
-        v = (v << 6) | (static_cast<unsigned char>(*p++) & 0x3F);
-        v = (v << 6) | (static_cast<unsigned char>(*p++) & 0x3F);
-        return v;
-    }
-    ++p;
-    return '?';
-}
-
-static void lcd_draw_glyph(cv::Mat& img, int x0, int y0, const uint8_t* glyph, const cv::Scalar& color)
-{
-    for (int row = 0; row < FONT_SIZE; ++row) {
-        for (int col = 0; col < FONT_SIZE; ++col) {
-            if (glyph[row * FONT_SIZE + col] > 128) {
-                int px = x0 + col;
-                int py = y0 + row;
-                if (px >= 0 && px < img.cols && py >= 0 && py < img.rows)
-                    img.at<cv::Vec3b>(py, px) = cv::Vec3b(static_cast<uchar>(color[0]),
-                                                           static_cast<uchar>(color[1]),
-                                                           static_cast<uchar>(color[2]));
-            }
-        }
-    }
-}
-
-static void lcd_draw_chinese_text(cv::Mat& img, const char* text, int x, int y, const cv::Scalar& color)
-{
-    const char* p = text;
-    int cx = x;
-    while (*p) {
-        uint32_t cp = utf8_decode(p);
-        const uint8_t* glyph = find_glyph(cp);
-        if (glyph) {
-            lcd_draw_glyph(img, cx, y, glyph, color);
-            cx += FONT_SIZE;
-        }
-    }
-}
-
-
 // ═══════════════════════════════════════════════════════════
 //  CameraInit — 系统初始化
 //
@@ -1102,7 +1031,7 @@ static void motor_update(bool zebra_block, bool tl_block)
     prev_zstate = g_zstate;
     prev_tlstate = g_tl_state;
 
-    double spd = target_speed * boost_factor();
+    double spd = (boost_factor() > 1.0) ? 26.0 : target_speed;
 
     // 斑马线起步后 3.3~5s 降速走稳
     if (g_zstate == Z_COOLDOWN) {