feat:data slove and update heatmap

components/ffmsep/cpstream_core.hh

@@ -1,6 +1,7 @@
 #pragma once
 
 #include "components/ffmsep/cpdecoder.hh"
+#include "components/ffmsep/tactile/tacdec.hh"
 #include <chrono>
 #include <cstdint>
 #include <functional>
@@ -16,6 +17,9 @@ struct DecodedFrame {
     CPFrame frame;
     std::chrono::steady_clock::time_point received_at{};
     std::int64_t pts = 0;
+    std::optional<tactile::TactileFrame> tactile;
+    std::vector<std::uint16_t> tactile_pressures;
+    std::optional<tactile::MatrixSize> tactile_matrix_size;
 };
 
 struct CPStreamConfig {
@@ -31,6 +35,8 @@ struct CPStreamConfig {
     std::size_t frame_queue_capacity = 16;
     CPCodecID codec_id = CPCodecID::Unknow;
     std::string codec_name;
+    std::vector<std::uint8_t> slave_request_command{};
+    std::chrono::milliseconds slave_request_interval{200};
 };
 
 class CPStreamCore {