add hikvision camera

cmvr-es/config/devices/camera/camera.pb.txt

@@ -78,4 +78,24 @@ camera {
       sync: false
     }
   }
+
+  cameras {
+      id: "hikvision_cam"
+      hikvision {
+        ip: "192.168.1.64"
+        port: 8000
+        username: "admin"
+        password: "admin"
+        channel: 1
+        stream_type: 0
+        link_mode: 0
+        width: 1920
+        height: 1080
+        fps: 25
+        codec: "H264"
+        camera_mode: CAMERA_MODE_VIDEO
+        stream_mode: STREAM_MODE_RGB
+        buffer_size: 30
+      }
+    }
 }

cmvr-es/config/manager/device_manager.pb.txt

@@ -42,7 +42,7 @@ device_manager {
     id: "aubo_arm"
     type: DEVICE_TYPE_ROBOT_ARM
     config_file: "devices/arm/aubo_arm.pb.txt"
-    enable: true
+    enable: false
   }
 
   devices {
@@ -63,6 +63,14 @@ device_manager {
     id: "src1100"
     type: DEVICE_TYPE_AGV
     config_file: "devices/agv/src1100.pb.txt"
-    enable: true
+    enable: false
   }
+
+  devices {
+      id: "hikvision_cam"
+      type: DEVICE_TYPE_CAMERA
+      config_file: "devices/camera/camera.pb.txt"
+      enable: true
+    }
+
 }

cmvr-es/devices/camera/hikvision_camera/CMakeLists.txt

@@ -17,7 +17,10 @@ target_link_libraries(hikvision_camera
         -lhcnetsdk
         pthread
 )
-
+set_target_properties(hikvision_camera PROPERTIES
+        BUILD_RPATH "${HIKVISION_SDK_LIB_DIR};${HIKVISION_SDK_LIB_DIR}/HCNetSDKCom"
+        INSTALL_RPATH "$ORIGIN;$ORIGIN/HCNetSDKCom"
+)
 add_library(cmvr_es::device::hikvision_camera ALIAS hikvision_camera)
 install(TARGETS hikvision_camera LIBRARY DESTINATION lib)
 install(DIRECTORY "${HIKVISION_SDK_LIB_DIR}/HCNetSDKCom" DESTINATION lib)

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

@@ -2,14 +2,16 @@
 
 #include <cstdio>
 #include <cstring>
+#include <filesystem>
+#include <limits.h>
+
+#if defined(__linux__)
+#include <unistd.h>
+#endif
 
 #include "HCNetSDK.h"
 #include "common/base/logging/logger.h"
 
-#ifndef HIKVISION_SDK_LIB_DIR
-#define HIKVISION_SDK_LIB_DIR ""
-#endif
-
 namespace {
 
 std::mutex g_sdk_mutex;
@@ -28,6 +30,21 @@ std::string normalizeSdkPath(std::string path)
     return path;
 }
 
+std::string defaultRuntimeSdkPath()
+{
+#if defined(__linux__)
+    char executable_path[PATH_MAX] = {0};
+    const ssize_t count = readlink("/proc/self/exe", executable_path, PATH_MAX - 1);
+    if (count > 0) {
+        executable_path[count] = '\0';
+        const auto lib_path =
+            std::filesystem::path(executable_path).parent_path() / ".." / "lib";
+        return normalizeSdkPath(std::filesystem::weakly_canonical(lib_path).string());
+    }
+#endif
+    return normalizeSdkPath((std::filesystem::current_path() / ".." / "lib").string());
+}
+
 void copyCString(char* dest, size_t dest_size, const std::string& source)
 {
     if (dest_size == 0) {
@@ -67,7 +84,7 @@ HikvisionCamera::HikvisionCamera(const config::HikvisionCameraConfig& camera)
     buffer_size_ = camera_.buffer_size() > 0 ? static_cast<size_t>(camera_.buffer_size()) : 30;
     codec_ = camera_.codec().empty() ? "H264" : camera_.codec();
     sdk_path_ = normalizeSdkPath(
-        camera_.sdk_path().empty() ? std::string(HIKVISION_SDK_LIB_DIR) : camera_.sdk_path());
+        camera_.sdk_path().empty() ? defaultRuntimeSdkPath() : camera_.sdk_path());
 
     state_.fps = fps_;
     state_.width = width_;
@@ -328,19 +345,6 @@ bool HikvisionCamera::initSdk_()
 
     std::lock_guard<std::mutex> lock(g_sdk_mutex);
     if (g_sdk_ref_count == 0) {
-        if (!sdk_path_.empty()) {
-            NET_DVR_LOCAL_SDK_PATH sdk_path_cfg{};
-            copyCString(sdk_path_cfg.sPath, sizeof(sdk_path_cfg.sPath), sdk_path_);
-            NET_DVR_SetSDKInitCfg(NET_SDK_INIT_CFG_SDK_PATH, &sdk_path_cfg);
-
-            const std::string crypto_path = sdk_path_ + "libcrypto.so.3";
-            const std::string ssl_path = sdk_path_ + "libssl.so.3";
-            NET_DVR_SetSDKInitCfg(
-                NET_SDK_INIT_CFG_LIBEAY_PATH, const_cast<char*>(crypto_path.c_str()));
-            NET_DVR_SetSDKInitCfg(
-                NET_SDK_INIT_CFG_SSLEAY_PATH, const_cast<char*>(ssl_path.c_str()));
-        }
-
         if (!NET_DVR_Init()) {
             setError_(sdkError_("NET_DVR_Init"));
             return false;