align Hikvision camera with lgv device interfaces

cmvr-es/devices/abstract_device.h

@@ -34,6 +34,10 @@ namespace cmvr::device {
         virtual bool start() { return true; }
         virtual bool stop() { return true; }
         virtual bool update() { return true; }
+        virtual bool executeJsonCommand(const std::string& request_json, std::string& response_json) {
+            response_json = R"({"success":false,"error_message":"JSON command unsupported"})";
+            return false;
+        }
 
     protected:
         std::string id_;   // 设备名称

cmvr-es/devices/camera/abstract_camera.h

@@ -95,25 +95,7 @@ namespace cmvr::device {
         ~AbstractCamera() override = default;
 
         DeviceKind kind() const noexcept override { return DeviceKind::Camera; }
-        // Every implementation must take the same lock used by its state_
-        // writers; CameraState contains std::string and cannot be snapshotted
-        // safely while another thread mutates it.
         virtual void getState(CameraState &state) = 0;
-        DeviceHealthSnapshot healthSnapshot() override {
-            CameraState state{};
-            getState(state);
-
-            DeviceHealthSnapshot health;
-            health.error_message = state.error_message;
-            if (state.is_error) {
-                health.state = DeviceHealthState::Fault;
-            } else if (!state.error_message.empty()) {
-                health.state = DeviceHealthState::Degraded;
-            } else if (state.is_initialized) {
-                health.state = DeviceHealthState::Healthy;
-            }
-            return health;
-        }
         virtual void getRGBImage(cv::Mat &color, Rs2Intrinsics& intrinsics) {}
         virtual void getDepthImage(cv::Mat &depth, Rs2Intrinsics& intrinsics) {}
         virtual void getRGBDImages(cv::Mat &color, cv::Mat &depth, Rs2Intrinsics& intrinsics) {}

cmvr-es/devices/camera/hikvision_camera/src/hikvision_camera.cpp

@@ -11,6 +11,7 @@
 #include <limits.h>
 #include <sstream>
 #include <string>
+#include <thread>
 #include <vector>
 
 #if defined(__linux__)
@@ -466,13 +467,17 @@ bool HikvisionCamera::waitEncodedFrame(
     if (!stream_frame_buffer_) {
         return false;
     }
-    auto frame = stream_frame_buffer_->waitPop(index, timeout);
+    const auto deadline = std::chrono::steady_clock::now() + timeout;
-    if (!frame) {
+    do {
-        return false;
+        auto frame = stream_frame_buffer_->pop(index);
-    }
+        if (frame) {
             frame_data = std::move(*frame);
             return !frame_data.rgbFrame.empty() || !frame_data.depthFrame.empty();
         }
+        std::this_thread::sleep_for(std::chrono::milliseconds(1));
+    } while (std::chrono::steady_clock::now() < deadline);
+    return false;
+}
 
 bool HikvisionCamera::getLatestEncodedFrame(StreamFrameData& frame_data, size_t& next_index)
 {
@@ -480,12 +485,17 @@ bool HikvisionCamera::getLatestEncodedFrame(StreamFrameData& frame_data, size_t&
         return false;
     }
 
-    auto frame = stream_frame_buffer_->getLatest(next_index);
+    const size_t head = stream_frame_buffer_->getHead();
+    if (head == 0) {
+        return false;
+    }
+    next_index = head - 1;
+    auto frame = stream_frame_buffer_->pop(next_index);
     if (!frame.has_value()) {
         return false;
     }
 
-    frame_data = frame.value();
+    frame_data = std::move(*frame);
     return true;
 }