修改

armor/src/unifiedManager.cpp

@@ -2,7 +2,6 @@
 
 UnifiedDeviceManager::UnifiedDeviceManager(int retryIntervalMs)
     : m_serial(std::make_unique<SerialComm>())
-    , m_camera(std::make_unique<CameraManager>(retryIntervalMs))
     , m_serialConnected(false)
     , m_shouldStop(false)
     , m_retryIntervalMs(retryIntervalMs)
@@ -16,81 +15,69 @@ UnifiedDeviceManager::~UnifiedDeviceManager() {
 
 void UnifiedDeviceManager::serialReconnectThreadFunc() {
     fmt::print("[I][Managr]: Serial reconnect thread started\n");
-    
+
     while (!m_shouldStop.load()) {
         if (!m_serialConnected.load()) {
             fmt::print("[I][Managr]: Attempting to connect serial port...\n");
-            
+
             std::lock_guard<std::mutex> lock(m_serialMutex);
-            
+
             if (m_serial->findFirstTtyUSB() && m_serial->openPort()) {
                 m_serialConnected.store(true);
                 fmt::print("[I][Managr]: Serial port connected successfully\n");
             } else {
-                fmt::print("[W][Managr]: Serial connection failed, retry in {}ms\n", 
+                fmt::print("[W][Managr]: Serial connection failed, retry in {}ms\n",
                           m_retryIntervalMs);
             }
         }
-        
+
         std::this_thread::sleep_for(std::chrono::milliseconds(m_retryIntervalMs));
     }
-    
+
     fmt::print("[I][Managr]: Serial reconnect thread stopped\n");
 }
 
 void UnifiedDeviceManager::start() {
     fmt::print("[I][Managr]: Starting unified device manager\n");
-    
+
     m_shouldStop.store(false);
-    
-    // Start serial reconnect thread
+
     if (!m_serialReconnectThread.joinable()) {
         m_serialReconnectThread = std::thread(&UnifiedDeviceManager::serialReconnectThreadFunc, this);
     }
-    
-    // Start camera manager (it has its own reconnect thread)
-    m_camera->start();
-    
+
     fmt::print("[I][Managr]: Unified device manager started\n");
 }
 
 void UnifiedDeviceManager::stop() {
     fmt::print("[I][Managr]: Stopping unified device manager\n");
-    
+
     m_shouldStop.store(true);
-    
-    // Stop camera manager
-    m_camera->stop();
-    
-    // Stop serial thread
+
     if (m_serialReconnectThread.joinable()) {
         m_serialReconnectThread.join();
-        
+
         std::lock_guard<std::mutex> lock(m_serialMutex);
         m_serial->closePort();
         m_serialConnected.store(false);
     }
-    
-    fmt::print("[I][Managr]: Unified device manager stopped\n");
-}
 
-bool UnifiedDeviceManager::isCameraConnected() const {
-    return m_camera->isConnected();
+    fmt::print("[I][Managr]: Unified device manager stopped\n");
 }
 
 bool UnifiedDeviceManager::sendData(const char* data, size_t length) {
     if (!m_serialConnected.load()) {
         return false;
     }
-    
+
     std::lock_guard<std::mutex> lock(m_serialMutex);
-    
+
     if (!m_serial->sendData(data, length)) {
         m_serialConnected.store(false);
         fmt::print("[W][Managr]: Serial send failed, marked as disconnected\n");
         return false;
     }
-    
+
     return true;
 }
 
@@ -98,15 +85,7 @@ int UnifiedDeviceManager::receiveData(uint8_t* buffer, size_t maxLength) {
     if (!m_serialConnected.load()) {
         return -1;
     }
-    
+
     std::lock_guard<std::mutex> lock(m_serialMutex);
     return m_serial->receiveData(buffer, maxLength);
-}
-
-bool UnifiedDeviceManager::grabFrame(cv::Mat& frame) {
-    return m_camera->grabFrame(frame);
-}
-
-const char* UnifiedDeviceManager::getCameraName() const {
-    return m_camera->getCameraName();
 }