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
67 lines
3.0 KiB
C++
67 lines
3.0 KiB
C++
#include "global.h"
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#include <fstream>
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CfgCache g_cfg;
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double target_speed;
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double readDoubleFromFile(const std::string &filename)
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{
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std::ifstream file(filename);
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double value = 0.0;
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if (file.is_open()) { file >> value; file.close(); }
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return value;
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}
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bool readFlag(const std::string &filename)
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{
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std::ifstream file(filename);
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int flag = 0;
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if (file.is_open()) { file >> flag; file.close(); }
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return flag;
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}
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void cfg_load_all()
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{
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g_cfg.speed = readDoubleFromFile(speed_file);
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g_cfg.foresee = readDoubleFromFile(foresee_file);
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g_cfg.foresee_lost_scale = readDoubleFromFile(foresee_lost_scale_file);
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g_cfg.sharp_turn_scale = readDoubleFromFile(sharp_turn_scale_file);
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g_cfg.zebrasee = readDoubleFromFile(zebrasee_file);
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g_cfg.deadband = readDoubleFromFile(deadband_file);
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g_cfg.steer_gain = readDoubleFromFile(steer_gain_file);
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g_cfg.center_bias = readDoubleFromFile(center_bias_file);
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g_cfg.start = readFlag(start_file);
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g_cfg.showImg = readFlag(showImg_file);
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g_cfg.debug = readFlag(debug_file);
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g_cfg.cone_speed = readDoubleFromFile(cone_speed_file);
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g_cfg.cone_min_frames = (int)readDoubleFromFile(cone_min_frames_file);
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g_cfg.cone_margin = (int)readDoubleFromFile(cone_margin_file);
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g_cfg.cone_thresh = readDoubleFromFile(cone_thresh_file);
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g_cfg.cone_avoid_gain = readDoubleFromFile(cone_avoid_gain_file);
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g_cfg.cone_avoid_range = (int)readDoubleFromFile(cone_avoid_range_file);
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g_cfg.cone_hold_frames = (int)readDoubleFromFile(cone_hold_frames_file);
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g_cfg.cone_return_gain = readDoubleFromFile(cone_return_gain_file);
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g_cfg.cone_return_frames = (int)readDoubleFromFile(cone_return_frames_file);
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g_cfg.brake_scale = readDoubleFromFile(brake_scale_file);
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g_cfg.brake_max = readDoubleFromFile(brake_max_file);
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g_cfg.curve_slope = readDoubleFromFile(curve_slope_file);
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g_cfg.curve_min = readDoubleFromFile(curve_min_file);
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g_cfg.lidar_thresh = (int)readDoubleFromFile(lidar_thresh_file);
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g_cfg.lidar_pre = (int)readDoubleFromFile(lidar_pre_file);
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g_cfg.lidar_near = (int)readDoubleFromFile(lidar_near_file);
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g_cfg.lidar_far = (int)readDoubleFromFile(lidar_far_file);
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g_cfg.lidar_near_start = (int)readDoubleFromFile(lidar_near_start_file);
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g_cfg.lidar_near_end = (int)readDoubleFromFile(lidar_near_end_file);
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g_cfg.lidar_far_span = (int)readDoubleFromFile(lidar_far_span_file);
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g_cfg.lidar_min_frames = (int)readDoubleFromFile(lidar_min_frames_file);
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g_cfg.lidar_avoid_gain = readDoubleFromFile(lidar_avoid_gain_file);
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g_cfg.lidar_avoid_range = (int)readDoubleFromFile(lidar_avoid_range_file);
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g_cfg.lidar_speed = readDoubleFromFile(lidar_speed_file);
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g_cfg.lidar_hold_frames = (int)readDoubleFromFile(lidar_hold_frames_file);
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g_cfg.lidar_enable = (int)readDoubleFromFile(lidar_enable_file);
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}
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