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pandx 2026-03-26 10:39:21 +08:00
parent e1fb5cc751
commit 11640822ec
1 changed files with 12 additions and 0 deletions
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12
scheduler/schedule.cpp
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@ -961,6 +961,18 @@ int SensorScheduler::WriteScheduleCfg(long &ts, std::string &world_time) {
xy_wave_start_id = max_sensor_num_ + 1;
}
if (max_sensor_num_ == 2 && free_slice_ == 0) {
xy_wave_start_id = 2;
}
if (max_sensor_num_ == 1 && free_slice_ == 0) {
if (available_slice_ == 2) {
xy_wave_start_id = 1;
} else if (available_slice_ == 4) {
xy_wave_start_id = 2;
}
}
for (int i = 1; i <= max_sensor_num_; ++i) {
sensor_id_nth_slice_[i] = { i, i + xy_wave_start_id };
slice_sensor_id_[i] = i;