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Changes to be committed:
	modified:   .gitignore
	modified:   README.md
	new file:   bashes/auto-wifi-connect.service
	new file:   bashes/auto-wifi-connect.sh
	deleted:    keyboard_control.py
	new file:   my_model/image.png
	new file:   path_follower_demo.py
	new file:   scripts/PIDtracking.py
	new file:   scripts/__pycache__/publish_sine_path.cpython-310.pyc
	new file:   scripts/publish_sine_path.py
	modified:   src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml
	modified:   src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml.bak
	new file:   src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml.bak2
	modified:   src/origincar_base/config/ekf.yaml
	new file:   src/origincar_base/config/ekf.yaml.bak
	modified:   src/origincar_base/launch/base_serial.launch.py
	new file:   src/origincar_base/launch/base_serial.launch.py.bak
	modified:   src/origincar_base/launch/origincar_bringup.launch.py
	new file:   src/past_control/CMakeLists.txt
	new file:   src/past_control/config/past_control.yaml
	new file:   src/past_control/include/past_control/tools.h
	new file:   src/past_control/launch/past_control.launch.py
	new file:   src/past_control/msg/Obstacle.msg
	new file:   src/past_control/msg/ObstacleArray.msg
	new file:   src/past_control/package.xml
	new file:   src/past_control/src/lane_follower_node.cpp
	new file:   src/past_control/src/obstacle_detector_node.cpp
	new file:   src/past_control/src/racing_orchestrator.cpp
	new file:   src/planner/CMakeLists.txt
	new file:   src/planner/config/planner.yaml
	new file:   src/planner/launch/planner.launch.py
	new file:   src/planner/package.xml
	new file:   src/planner/src/planner_version.cpp
	modified:   src/qr_detection/src/qr_dete_depth.cpp
	new file:   src/racing_control/CMakeLists.txt
	new file:   src/racing_control/include/racing_control/racing_control.hpp
	new file:   src/racing_control/package.xml
	new file:   src/racing_control/src/racing_control.cpp
	modified:   src/vlm_detect/setup.py
	new file:   src/vlm_detect/vlm_detect/__pycache__/__init__.cpython-310.pyc
	new file:   src/vlm_detect/vlm_detect/__pycache__/tts_node.cpython-310.pyc
	new file:   src/vlm_detect/vlm_detect/test_publisher.py
	new file:   src/vlm_detect/vlm_detect/tts_node.py
	modified:   src/vlm_detect/vlm_detect/vlm_node.py
	new file:   tools/measure_turning_radius.py
	new file:   tools/set_volume.py
	new file:   tools/udp_to_cmdvel.py
	new file:   tools/windows_keyboard_control.py
	new file:   vlm_server.py
	new file:   "\350\260\203\350\257\225\350\256\260\345\275\225.Assets/1.png"
	renamed:    "\350\260\203\350\257\225\350\256\260\345\275\225.log" -> "\350\260\203\350\257\225\350\256\260\345\275\225.md"

bashes/auto-wifi-connect.sh

@@ -0,0 +1,78 @@
+#!/bin/bash
+# ============================================================================
+# auto-wifi-connect.sh — 开机自动连接 WiFi
+#
+# 优先级：openwrt_5G > kskbl_2.4G
+# 扫描可用网络，优先连接 5G 热点，不可用时回退到 2.4G
+#
+# 退出码：
+#   0 — 成功连接
+#   1 — NetworkManager 未就绪（超时）
+#   2 — 两个热点均不可用
+#   3 — 连接失败
+# ============================================================================
+
+PRIMARY="openwrt_5G"
+FALLBACK="kskbl_2.4G"
+WIFI_PASSWORD="11112222"
+MAX_WAIT=30          # 最多等 NetworkManager 就绪的秒数
+SCAN_WAIT=3          # WiFi 扫描后的等待秒数
+
+log() {
+    echo "[auto-wifi] $(date '+%H:%M:%S') $*" | tee /dev/kmsg 2>/dev/null
+}
+
+# ── 等待 NetworkManager 就绪 ──
+log "等待 NetworkManager 就绪..."
+for i in $(seq 1 $MAX_WAIT); do
+    state=$(nmcli -t -f STATE general status 2>/dev/null)
+    if [ -n "$state" ]; then
+        log "NetworkManager 状态: $state"
+        break
+    fi
+    sleep 2
+done
+
+if [ -z "$state" ]; then
+    log "错误: NetworkManager 在 ${MAX_WAIT}s 内未就绪"
+    exit 1
+fi
+
+# ── 获取 WiFi 网卡名 ──
+WIFI_IFACE=$(nmcli -t -f DEVICE,TYPE device status 2>/dev/null | grep ':wifi$' | cut -d: -f1 | head -1)
+if [ -z "$WIFI_IFACE" ]; then
+    log "错误: 未找到 WiFi 网卡"
+    exit 2
+fi
+log "WiFi 网卡: $WIFI_IFACE"
+
+# ── 先检查是否已经连接到目标热点 ──
+current=$(nmcli -t -f GENERAL.CONNECTION device show "$WIFI_IFACE" 2>/dev/null | cut -d: -f2)
+if [ "$current" = "$PRIMARY" ] || [ "$current" = "$FALLBACK" ]; then
+    log "已连接到 $current，无须切换"
+    exit 0
+fi
+
+# ── 扫描 WiFi ──
+log "正在扫描 WiFi..."
+nmcli device wifi rescan 2>/dev/null
+sleep $SCAN_WAIT
+
+# ── 检查 PRIMARY 是否可见 ──
+if nmcli -t -f SSID device wifi list 2>/dev/null | grep -qx "$PRIMARY"; then
+    TARGET="$PRIMARY"
+    log "检测到 $PRIMARY"
+else
+    TARGET="$FALLBACK"
+    log "$PRIMARY 不可用，回退到 $TARGET"
+fi
+
+# ── 连接 ──
+log "正在连接 $TARGET ..."
+if nmcli device wifi connect "$TARGET" password "$WIFI_PASSWORD" ifname "$WIFI_IFACE" 2>&1; then
+    log "成功连接到 $TARGET"
+    exit 0
+else
+    log "错误: 无法连接到 $TARGET"
+    exit 3
+fi