spdis
e720009794
- 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
45 lines
988 B
C++
45 lines
988 B
C++
#include <iostream>
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#include <opencv2/opencv.hpp>
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#include <csignal>
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#include <atomic>
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#include <thread>
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#include <chrono>
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#include <sched.h>
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#include <sys/resource.h>
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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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std::atomic<bool> running(true);
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void signalHandler(int) { running.store(false); }
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int main(void)
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{
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std::signal(SIGINT, signalHandler);
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cfg_load_all();
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if (CameraInit(0) < 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" << std::endl;
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setpriority(PRIO_PROCESS, 0, -10);
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while (running.load()) {
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CameraHandler();
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target_speed = g_cfg.speed;
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sched_yield();
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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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