feat: update examples and README with streaming support and uint32 force types

- Change CForce3D fx/fy/fz from int16 to uint32 to match hardware
- Add independent C++ example with command and streaming modes
- Rewrite Python example with threaded streaming (read_loop + consumer pattern)
- Add ROS2 C++ publisher/subscriber examples
- Update README with streaming APIs, ROS2 docs, data type definitions, and full FFI table
- Add CHANGELOG

example/python/eskin_ffi.py

@@ -1,7 +1,7 @@
 import ctypes
 from ctypes import (
     Structure, POINTER, c_void_p, c_char, c_char_p, c_uint8, c_uint16,
-    c_uint32, c_uint64, c_int16, c_bool
+    c_uint32, c_uint64, c_bool
 )
 
 LIB_PATH = "./libeskin_finger_sdk.so"
@@ -14,6 +14,29 @@ class EskinSdkVersion(Structure):
     ]
 
 
+class CForce3D(Structure):
+    _fields_ = [
+        ("fx", c_uint32),
+        ("fy", c_uint32),
+        ("fz", c_uint32),
+    ]
+
+
+class CCombinedForce(Structure):
+    _fields_ = [
+        ("module", c_uint32),
+        ("force", CForce3D),
+    ]
+
+
+class CFingerSample(Structure):
+    _fields_ = [
+        ("timestamp_us", c_uint64),
+        ("sequence", c_uint32),
+        ("combined_force", CCombinedForce),
+    ]
+
+
 class EskinDevice:
     def __init__(self):
         self._lib = ctypes.CDLL(LIB_PATH)
@@ -90,6 +113,22 @@ class EskinDevice:
             c_void_p, c_uint8, POINTER(c_uint16)
         ]
 
+        # Streaming bindings
+
+        lib.eskin_start_stream.restype = c_uint32
+        lib.eskin_start_stream.argtypes = [c_void_p]
+
+        lib.eskin_stop_stream.restype = c_uint32
+        lib.eskin_stop_stream.argtypes = [c_void_p]
+
+        lib.eskin_read_sample.restype = c_uint32
+        lib.eskin_read_sample.argtypes = [
+            c_void_p, c_uint32, POINTER(CFingerSample)
+        ]
+
+        lib.eskin_get_mode.restype = c_uint32
+        lib.eskin_get_mode.argtypes = [c_void_p, POINTER(c_uint32)]
+
     def version(self) -> tuple:
         v = self._lib.eskin_version()
         return (v.major, v.minor, v.patch)
@@ -210,8 +249,38 @@ class EskinDevice:
             raise RuntimeError(f"write_matrix_col failed: error={err}")
         return ret.value
 
+    # Streaming methods
+
+    def start_stream(self):
+        """启动流式采集"""
+        err = self._lib.eskin_start_stream(self._handle)
+        if err != 0:
+            raise RuntimeError(f"start_stream failed: error={err}")
+
+    def stop_stream(self):
+        """停止流式采集"""
+        err = self._lib.eskin_stop_stream(self._handle)
+        if err != 0:
+            raise RuntimeError(f"stop_stream failed: error={err}")
+
+    def read_sample(self, timeout_ms: int = 200) -> CFingerSample:
+        """读取一个采样数据（流模式下调用）"""
+        sample = CFingerSample()
+        err = self._lib.eskin_read_sample(self._handle, timeout_ms, ctypes.byref(sample))
+        if err != 0:
+            raise RuntimeError(f"read_sample failed: error={err}")
+        return sample
+
+    def get_mode(self) -> int:
+        """查询当前设备模式（0=Command, 1=Streaming）"""
+        out = c_uint32(0)
+        err = self._lib.eskin_get_mode(self._handle, ctypes.byref(out))
+        if err != 0:
+            raise RuntimeError(f"get_mode failed: error={err}")
+        return out.value
+
     def __enter__(self):
         return self
 
     def __exit__(self, *args):
-        self.close()
+        self.close()