Initial commit: SmartCar Framework v0.1 — 龙芯2K0300智能车开发框架\n\n- HAL: GPIO/PWM/Encoder/Framebuffer 驱动\n- Control: PID/IMU/Motor/Servo 控制\n- Vision: HSV双Otsu→4点标定IPM→洪泛填充→逐行搜线\n- Strategy: 三区前瞻偏差+速度策略\n- Debug: 文件热调参+LCD预览+cv截帧\n- Scheduler: 5ms timerfd+epoll 中央调度器

debug/config.cpp

@@ -0,0 +1,20 @@
+#include "config.hpp"
+#include <fstream>
+
+double read_config_double(const char* filename, double default_val)
+{
+    std::ifstream f(filename);
+    if (!f.is_open()) return default_val;
+    double v = default_val;
+    f >> v;
+    return v;
+}
+
+bool read_config_flag(const char* filename, bool default_val)
+{
+    std::ifstream f(filename);
+    if (!f.is_open()) return default_val;
+    int v = default_val ? 1 : 0;
+    f >> v;
+    return v != 0;
+}

debug/config.hpp

@@ -0,0 +1,4 @@
+#pragma once
+
+double read_config_double(const char* filename, double default_val = 0);
+bool   read_config_flag(const char* filename, bool default_val = false);

debug/draw.cpp

@@ -0,0 +1,88 @@
+#include "draw.hpp"
+#include <algorithm>
+#include <cmath>
+
+DebugOverlay g_dbg;
+
+static uint16* g_buf    = nullptr;
+static int     g_w      = 0;
+static int     g_h      = 0;
+
+static inline uint16 rgb565(uint8 r, uint8 g, uint8 b)
+{
+    return ((r >> 3) << 11) | ((g >> 2) << 5) | (b >> 3);
+}
+
+static inline bool in_screen(int x, int y)
+{
+    return x >= 0 && x < g_w && y >= 0 && y < g_h;
+}
+
+void dbg_draw_init(uint16* fb_buffer, int w, int h)
+{
+    g_buf = fb_buffer;
+    g_w = w; g_h = h;
+}
+
+void dbg_draw_line(int x0, int y0, int x1, int y1, uint8 r, uint8 g, uint8 b)
+{
+    if (!g_buf) return;
+    uint16 color = rgb565(r, g, b);
+    int dx = std::abs(x1 - x0), sx = x0 < x1 ? 1 : -1;
+    int dy = -std::abs(y1 - y0), sy = y0 < y1 ? 1 : -1;
+    int err = dx + dy;
+
+    while (true)
+    {
+        if (in_screen(x0, y0)) g_buf[y0 * g_w + x0] = color;
+        if (x0 == x1 && y0 == y1) break;
+        int e2 = 2 * err;
+        if (e2 >= dy) { err += dy; x0 += sx; }
+        if (e2 <= dx) { err += dx; y0 += sy; }
+    }
+}
+
+void dbg_draw_cross(int cx, int cy, int size, uint8 r, uint8 g, uint8 b)
+{
+    dbg_draw_line(cx - size, cy, cx + size, cy, r, g, b);
+    dbg_draw_line(cx, cy - size, cx, cy + size, r, g, b);
+}
+
+void dbg_draw_rect(int x, int y, int w, int h, uint8 r, uint8 g, uint8 b)
+{
+    dbg_draw_line(x, y, x + w, y, r, g, b);
+    dbg_draw_line(x + w, y, x + w, y + h, r, g, b);
+    dbg_draw_line(x + w, y + h, x, y + h, r, g, b);
+    dbg_draw_line(x, y + h, x, y, r, g, b);
+}
+
+void dbg_draw_points(const int points[][2], int count, uint8 r, uint8 g, uint8 b)
+{
+    if (!g_buf) return;
+    uint16 color = rgb565(r, g, b);
+    for (int i = 0; i < count; ++i)
+    {
+        int x = points[i][0], y = points[i][1];
+        if (in_screen(x, y)) g_buf[y * g_w + x] = color;
+    }
+}
+
+void dbg_draw_edge_zoom(const EdgeLines& lines, uint8 r, uint8 g, uint8 b)
+{
+    const int thick = 7;  // 车道线宽度 (像素)
+
+    for (int y = 0; y < IPM_ROW_COUNT; ++y)
+    {
+        if (lines.left[y] > 0)
+            for (int dx = -thick; dx <= thick; ++dx)
+                dbg_draw_line(lines.left[y] + dx, y, lines.left[y] + dx, y, r, g, b);
+
+        if (lines.right[y] > 0)
+            for (int dx = -thick; dx <= thick; ++dx)
+                dbg_draw_line(lines.right[y] + dx, y, lines.right[y] + dx, y, 0, 255, 0);
+
+        if (lines.mid[y] > 0)
+            for (int dx = -thick; dx <= thick; ++dx)
+                dbg_draw_line(lines.mid[y] + dx, y, lines.mid[y] + dx, y, 255, 255, 0);
+    }
+}

debug/draw.hpp

@@ -0,0 +1,17 @@
+#pragma once
+#include <cstdint>
+#include "types.hpp"
+
+struct DebugOverlay {
+    bool enable       = true;
+    int  mode         = DBG_OVERLAY;
+};
+
+extern DebugOverlay g_dbg;
+
+void dbg_draw_init(uint16* fb_buffer, int w, int h);
+void dbg_draw_line(int x0, int y0, int x1, int y1, uint8 r, uint8 g, uint8 b);
+void dbg_draw_cross(int cx, int cy, int size, uint8 r, uint8 g, uint8 b);
+void dbg_draw_rect(int x, int y, int w, int h, uint8 r, uint8 g, uint8 b);
+void dbg_draw_points(const int points[][2], int count, uint8 r, uint8 g, uint8 b);
+void dbg_draw_edge_zoom(const EdgeLines& lines, uint8 r, uint8 g, uint8 b);

debug/tcp.cpp

@@ -0,0 +1,25 @@
+#include "tcp.hpp"
+#include <cstdio>
+
+bool tcp_init(const char* host, int port)
+{
+    // TODO: 实现 TCP 客户端连接逐飞助手
+    // 当前为占位实现，后续接入 seekfree_assistant 协议
+    printf("[TCP] 占位: 连接 %s:%d (未实现)\n", host, port);
+    return false;
+}
+
+void tcp_send_image(const EdgeLines& lines)
+{
+    // TODO: 发送 RGB565 调试图像
+}
+
+void tcp_send_osc(float ch1, float ch2, float ch3, float ch4)
+{
+    // TODO: 发送虚拟示波器数据
+}
+
+void tcp_close()
+{
+    // TODO: 关闭 TCP 连接
+}

debug/tcp.hpp

@@ -0,0 +1,8 @@
+#pragma once
+#include "types.hpp"
+#include "vision/search.hpp"
+
+bool tcp_init(const char* host = "192.168.31.20", int port = 8086);
+void tcp_send_image(const EdgeLines& lines);          // 发送带叠加线的图传
+void tcp_send_osc(float ch1, float ch2, float ch3, float ch4);
+void tcp_close();