修改

CMakeLists.txt

@@ -1,4 +1,4 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
 
 PROJECT(SJTU-RM-CV)
 SET(CMAKE_CXX_STANDARD 11)
@@ -28,6 +28,7 @@ ENDIF()
 FIND_PACKAGE(Eigen3 REQUIRED)
 FIND_PACKAGE(OpenCV 4 REQUIRED)
 FIND_PACKAGE(Threads)
+FIND_PACKAGE(fmt REQUIRED)
 
 LINK_DIRECTORIES(${PROJECT_SOURCE_DIR}/others)
 
@@ -41,6 +42,7 @@ ADD_EXECUTABLE(${BIN_NAME} main.cpp ${sourcefiles})
 
 TARGET_LINK_LIBRARIES(${BIN_NAME} ${CMAKE_THREAD_LIBS_INIT})
 TARGET_LINK_LIBRARIES(${BIN_NAME} ${OpenCV_LIBS})
+TARGET_LINK_LIBRARIES(${BIN_NAME} fmt::fmt)
 IF (CMAKE_SYSTEM_NAME MATCHES "Linux")
     MESSAGE(STATUS "current platform: Linux ")
     TARGET_LINK_LIBRARIES(${BIN_NAME} "${PROJECT_SOURCE_DIR}/others/libMVSDK.so")

armor/include/unifiedManager.hpp

@@ -6,15 +6,14 @@
 #include <thread>
 #include <atomic>
 #include <mutex>
+#include <chrono>
+#include <fmt/core.h>
 
-// Unified device manager (Serial )
+// Unified device manager (Serial only)
 class UnifiedDeviceManager {
 private:
-    // Device instances
     std::unique_ptr<SerialComm> m_serial;
-    std::unique_ptr<CameraManager> m_camera;
 
-    // Thread management
     std::thread m_serialReconnectThread;
     std::atomic<bool> m_serialConnected;
     std::atomic<bool> m_shouldStop;
@@ -23,27 +22,20 @@ private:
 
     int m_retryIntervalMs;
 
-    // Serial reconnect thread
     void serialReconnectThreadFunc();
 
 public:
     UnifiedDeviceManager(int retryIntervalMs = 500);
     ~UnifiedDeviceManager();
 
-    // Control methods
     void start();
     void stop();
 
-    // Status check
     bool isSerialConnected() const { return m_serialConnected.load(); }
 
     // Serial operations (thread-safe)
     bool sendData(const char* data, size_t length);
     int receiveData(uint8_t* buffer, size_t maxLength);
-    
-    // Camera operations (thread-safe)
-    bool grabFrame(cv::Mat& frame);
-    const char* getCameraName() const;
 };
 
 #endif // UNIFIED_MANAGER_HPP

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)
@@ -43,14 +42,10 @@ void UnifiedDeviceManager::start() {
 
     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");
 }
 
@@ -59,10 +54,6 @@ void UnifiedDeviceManager::stop() {
 
     m_shouldStop.store(true);
 
-    // Stop camera manager
-    m_camera->stop();
-    
-    // Stop serial thread
     if (m_serialReconnectThread.joinable()) {
         m_serialReconnectThread.join();
 
@@ -74,10 +65,6 @@ void UnifiedDeviceManager::stop() {
     fmt::print("[I][Managr]: Unified device manager stopped\n");
 }
 
-bool UnifiedDeviceManager::isCameraConnected() const {
-    return m_camera->isConnected();
-}
-
 bool UnifiedDeviceManager::sendData(const char* data, size_t length) {
     if (!m_serialConnected.load()) {
         return false;
@@ -102,11 +89,3 @@ int UnifiedDeviceManager::receiveData(uint8_t* buffer, size_t maxLength) {
     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();
-}