spdis
95a46c130d
- 搬运 ST API C 源码到 lib/vl53l0x/, 替换 I2C 层为用户态 i2c-dev - 新增 vl53l0x_platform_user.cpp: WriteMulti/ReadMulti 等全平台接口 - 重写 vl53l0x.cpp: start时unbind内核驱动, 单次测距, 无后台轮询 - 高速模式 20000μs timing budget, 模型缓存零污染(41-43ms) - LiDAR 每5帧一读(~20ms), 隔帧模型推理, fps 25.1→29.6 (+18%) - 同事的LiDAR避障集成: 12个配置参数, 中线变形绕行, 刹车注释 - nice -10 + sched_yield 优先级优化
61 lines
1.9 KiB
C++
61 lines
1.9 KiB
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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double avoid_gain_val = readDoubleFromFile(cone_avoid_gain_file);
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int avoid_range_val = (int)readDoubleFromFile(cone_avoid_range_file);
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int hold_frames_val = (int)readDoubleFromFile(cone_hold_frames_file);
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if (avoid_gain_val > 0) g_cfg.cone_avoid_gain = avoid_gain_val;
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if (avoid_range_val > 0) g_cfg.cone_avoid_range = avoid_range_val;
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if (hold_frames_val > 0) g_cfg.cone_hold_frames = hold_frames_val;
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double lidar_gain_val = readDoubleFromFile(lidar_avoid_gain_file);
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int lidar_range_val = (int)readDoubleFromFile(lidar_avoid_range_file);
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int lidar_hold_val = (int)readDoubleFromFile(lidar_hold_frames_file);
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int lidar_thresh_val = (int)readDoubleFromFile(lidar_thresh_file);
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if (lidar_gain_val > 0) g_cfg.lidar_avoid_gain = lidar_gain_val;
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if (lidar_range_val > 0) g_cfg.lidar_avoid_range = lidar_range_val;
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if (lidar_hold_val > 0) g_cfg.lidar_hold_frames = lidar_hold_val;
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if (lidar_thresh_val > 0) g_cfg.lidar_thresh = lidar_thresh_val;
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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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