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feat:data slove and update heatmap

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lenn
2025-10-29 14:09:28 +08:00
parent c50b44efe2
commit c6cef3d89d
200 changed files with 100674 additions and 52814 deletions
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81
examples/cpstream_demo.cc
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@@ -1,6 +1,7 @@
#include <algorithm>
#include <chrono>
#include <csignal>
#include <iomanip>
#include <iostream>
#include <optional>
#include <string>
@@ -70,6 +71,11 @@ int main(int argc, char** argv) {
cfg.read_chunk_size = 256;
cfg.packet_queue_capacity = 128;
cfg.frame_queue_capacity = 32;
cfg.slave_request_command = {
0x55, 0xAA, 0x09, 0x00, 0x34, 0x00, 0xFB,
0x00, 0x1C, 0x00, 0x00, 0x18, 0x00, 0x7A
};
cfg.slave_request_interval = 200ms;
ffmsep::CPStreamCore core(cfg);
if (!core.open()) {
@@ -77,39 +83,74 @@ int main(int argc, char** argv) {
return 2;
}
// Optional: receive frames via callback
core.set_frame_callback([](const ffmsep::DecodedFrame& df) {
const auto maybe = ffmsep::tactile::parse_frame(df.frame);
if (!maybe) {
return;
}
const auto& tf = *maybe;
const auto pv = ffmsep::tactile::parse_pressure_values(tf);
std::cout << "Frame pts=" << df.pts
<< " addr=" << int(tf.device_address)
<< " func=" << int(static_cast<std::uint8_t>(tf.function))
<< " len=" << int(tf.data_length)
<< " pressures=" << pv.size() << "\n";
});
if (!core.start()) {
std::cerr << "Start failed: " << core.last_error() << "\n";
return 3;
}
auto print_hex = [](const std::vector<std::uint8_t>& data) {
if (data.empty()) {
std::cout << "(empty)";
return;
}
const auto old_flags = std::cout.flags();
const auto old_fill = std::cout.fill();
std::cout << std::hex << std::uppercase;
for (std::size_t idx = 0; idx < data.size(); ++idx) {
if (idx != 0U) {
std::cout << ' ';
}
std::cout << std::setw(2) << std::setfill('0')
<< static_cast<int>(data[idx]);
}
std::cout.flags(old_flags);
std::cout.fill(old_fill);
};
std::cout << "Streaming from " << port << ". Press Ctrl+C to stop...\n";
if (!cfg.slave_request_command.empty()) {
std::cout << "Slave mode active; request interval "
<< cfg.slave_request_interval.count() << " ms.\n";
}
// Also demonstrate polling API (in case users don't want callbacks)
while (g_running) {
ffmsep::DecodedFrame df;
if (core.wait_for_frame(df, 200ms)) {
const auto maybe = ffmsep::tactile::parse_frame(df.frame);
if (maybe) {
const auto sz = ffmsep::tactile::parse_matrix_size_payload(*maybe);
if (sz) {
std::cout << " matrix=" << int(sz->long_edge) << "x" << int(sz->short_edge) << "\n";
std::cout << "Frame pts=" << df.pts
<< " bytes=" << df.frame.data.size();
if (df.tactile) {
const auto& tf = *df.tactile;
std::cout << " addr=" << int(tf.device_address)
<< " func=0x" << std::hex << std::uppercase << int(tf.response_function)
<< std::dec;
if (df.tactile_matrix_size) {
const auto& ms = *df.tactile_matrix_size;
std::cout << " matrix=" << int(ms.long_edge)
<< "x" << int(ms.short_edge);
}
if (!df.tactile_pressures.empty()) {
std::cout << " pressures=" << df.tactile_pressures.size()
<< " values=[";
const std::size_t preview = std::min<std::size_t>(df.tactile_pressures.size(), 8);
for (std::size_t idx = 0; idx < preview; ++idx) {
if (idx != 0U) {
std::cout << ", ";
}
std::cout << df.tactile_pressures[idx];
}
if (preview < df.tactile_pressures.size()) {
std::cout << ", ...";
}
std::cout << "]";
}
std::cout << "\n raw=";
print_hex(df.frame.data);
} else {
std::cout << " raw=";
print_hex(df.frame.data);
}
std::cout << "\n";
}
}