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align Hikvision camera with lgv device interfaces

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This commit is contained in:
linbo 2026-09-16 16:48:29 +08:00
parent 06cda57311
commit 1153391670
3 changed files with 22 additions and 26 deletions
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4
cmvr-es/devices/abstract_device.h
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@ -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

18
cmvr-es/devices/camera/abstract_camera.h
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@ -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) {}

26
cmvr-es/devices/camera/hikvision_camera/src/hikvision_camera.cpp
View File

@ -11,6 +11,7 @@
#include <limits.h>
#include <sstream>
#include <string>
#include <thread>
#include <vector>
#if defined(__linux__)
@ -466,12 +467,16 @@ bool HikvisionCamera::waitEncodedFrame(
if (!stream_frame_buffer_) {
return false;
}
auto frame = stream_frame_buffer_->waitPop(index, timeout);
if (!frame) {
return false;
}
frame_data = std::move(*frame);
return !frame_data.rgbFrame.empty() || !frame_data.depthFrame.empty();
const auto deadline = std::chrono::steady_clock::now() + timeout;
do {
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;
}