解耦前的最后一个准备，可恢复版本

2026-01-16 17:54:10 +08:00 · 2026-01-16 17:54:10 +08:00 · 0a5a879418
commit 0a5a879418
parent 19a37a3de3
12 changed files with 411 additions and 40 deletions
--- a/API_Device_RemoteMgmt_InterfaceTable.md
+++ b/API_Device_RemoteMgmt_InterfaceTable.md
@ -236,6 +236,38 @@ Response 200：`{"ok":true}`

 失败：500 + `{"error":"..."}`

+### 5.3 `PUT /v1/media-server/configs/{name}`
+用途：上传 media-server 配置文件到 `agent.media_server_process.configs_dir`。
+
+**Auth**：必须（401）
+
+Headers：
+- `Content-Type: application/json`
+- `X-RK-Token: ...`
+
+Path params：
+- `name`: string（仅允许 `[A-Za-z0-9._-]`，禁止 `/`、`\\`、`..`；若无 `.json` 后缀则自动追加）
+
+Body：media-server 配置 JSON
+
+Response 200：
+```json
+{
+  "ok": true,
+  "name": "cam1.json",
+  "path": "/opt/rk3588sys/configs/cam1.json",
+  "size": 1234,
+  "mtime_ms": 1730000000000
+}
+```
+
+失败：
+- 400：name 非法 / Content-Type 非 application/json / JSON 无效 / 空 body
+- 401：unauthorized
+- 413：超过 `max_upload_mb`
+- 501：`configs_dir` 未配置
+- 500：写盘失败
+
 ## 6. 主程序进程控制（agent 对外）

 > 说明：该能力用于“启动/重启/关闭主程序（media-server）并选择加载哪个配置文件”。
--- a/PRD_06_Hardware_Decoupling_Plan.md
+++ b/PRD_06_Hardware_Decoupling_Plan.md
@ -0,0 +1,145 @@
+# PRD_06 多硬件解耦计划（RK3588/Atlas/Jetson）
+
+## 1. 背景与目标
+当前工程深度绑定 RK3588（RKNN/RGA/MPP/DMA-BUF），限制了 Atlas、Jetson 等平台的接入。目标是在**不破坏现有功能**的前提下，通过接口解耦与默认实现保留现有行为，实现多硬件可插拔支持。
+
+### 目标
+- 以接口层抽象 **推理、图像处理、编解码、缓冲区** 四个核心模块。
+- 默认实现保持 RK3588 行为与性能路径（零拷贝/DMA-BUF）。
+- 逐步迁移现有节点，避免一次性大改。
+
+### 非目标
+- 不改变业务逻辑（检测/识别流程、RTSP/HLS 业务）。
+- 不在本阶段引入新 UI/协议或跨平台发布流程。
+
+## 2. 现状摘要（关键路径）
+- 推理：`include/ai_scheduler.h`, `src/ai_scheduler.cpp`（RKNN + DMA-BUF 输入）
+- 图像处理：`plugins/preprocess/preprocess_node.cpp`（RGA 或 swscale）
+- 编解码：`plugins/input_rtsp/*`, `plugins/input_file/*`, `plugins/publish/*`（MPP + FFmpeg 混用）
+- 缓冲：`include/frame/frame.h`（dma_fd/planes/data_owner）
+
+## 3. 总体方案
+引入四类接口与默认实现：
+- **IInferBackend**：推理后端抽象（默认 RKNN）
+- **IImageProcessor**：图像预处理抽象（默认 RGA + swscale 兜底）
+- **IDecoder / IEncoder**：编解码抽象（默认 MPP，必要时 FFmpeg）
+- **FrameBuffer**：统一缓冲区语义与同步
+
+所有接口通过工厂/配置注入，保持现有 JSON 配置兼容。
+
+## 4. 实施步骤、里程碑与单元测试
+
+### Step 1：建立基础抽象与工厂
+**实施内容**
+- 新建 `include/hw/` 下接口定义：`i_infer_backend.h`, `i_image_processor.h`, `i_decoder.h`, `i_encoder.h`, `frame_buffer.h`
+- 定义最小能力集：
+  - IInferBackend: `LoadModel`, `Infer`, `InferBorrowed`
+  - IImageProcessor: `Resize`, `CvtColor`, `Normalize`
+  - IDecoder/IEncoder: `Open`, `Send`, `Receive`, `Close`
+  - FrameBuffer: `Planes()`, `DmaFd()`, `SyncStart/End()`
+- 新建工厂：`hw_factory.h/cpp`，根据配置返回默认实现
+
+**关键里程碑**
+- 接口头文件编译通过；工程无行为变化
+- 工厂默认返回 RK3588 实现（空实现也可先用占位）
+
+**单元测试（GTest）**
+- `HwFactory_Defaults_ReturnsRk3588Impls`
+- `FrameBuffer_Metadata_Preserved`（dma_fd/planes 赋值一致性）
+
+---
+
+### Step 2：推理模块解耦（RKNN → IInferBackend）
+**实施内容**
+- 将 `AiScheduler` 包装为 `RknnInferBackend` 实现
+- `ai_*` 节点依赖 `IInferBackend` 接口注入（保留默认行为）
+- 保留 `InferBorrowed` 以支持零拷贝输入
+
+**关键里程碑**
+- 现有模型推理链路无回归，性能基准一致（同配置）
+- RKNN 仍可多上下文并发
+
+**单元测试（GTest）**
+- `InferBackend_LoadModel_Smoke`（加载模型返回成功）
+- `InferBackend_BorrowedInput_UsesDmaFd`（检查传入 dma_fd 路径被调用）
+
+---
+
+### Step 3：图像预处理解耦（RGA/CPU → IImageProcessor）
+**实施内容**
+- 抽取 RGA 路径为 `RgaImageProcessor`
+- 抽取 swscale 路径为 `SwscaleImageProcessor`
+- `preprocess_node` 仅面向接口调用
+
+**关键里程碑**
+- `use_rga=true/false` 行为完全一致
+- RGA 限流逻辑（RgaGate）保留
+
+**单元测试（GTest）**
+- `ImageProcessor_RgaVsSwscale_OutputShape`（输出尺寸一致）
+- `ImageProcessor_ColorConversion_Nv12ToRgb`（像素格式转换）
+
+---
+
+### Step 4：编解码解耦（MPP/FFmpeg → IDecoder/IEncoder）
+**实施内容**
+- `MppDecoder`, `FfmpegDecoder` 实现 `IDecoder`
+- `MppEncoder`, `FfmpegEncoder` 实现 `IEncoder`
+- `input_rtsp/input_file/publish/storage` 节点仅面向接口
+
+**关键里程碑**
+- RTSP 输入与 HLS 输出链路不变
+- MPP 仍为默认路径，FFmpeg 作为兜底/平台适配
+
+**单元测试（GTest）**
+- `Decoder_Open_Close_Smoke`
+- `Encoder_Open_Close_Smoke`
+- `Codec_Pipeline_EncodeDecode_OneFrame`（小尺寸样例帧）
+
+---
+
+### Step 5：缓冲区抽象（Frame → FrameBuffer）
+**实施内容**
+- 新增 `FrameBuffer`，替代直接使用 `Frame` 的 dma_fd/data_owner
+- `Frame` 保留为业务结构，内部持有 `FrameBuffer`
+- 统一 DMA 同步接口以便多硬件适配
+
+**关键里程碑**
+- DMA-BUF 与内存缓冲区均可通过统一接口访问
+- `Frame` 兼容旧字段，最小侵入替换完成
+
+**单元测试（GTest）**
+- `FrameBuffer_Sync_NoCrash`
+- `FrameBuffer_PlaneAccess_Consistent`
+
+---
+
+### Step 6：多硬件适配接入（Atlas/Jetson）
+**实施内容**
+- 新增 `AtlasInferBackend/AtlasImageProcessor/AtlasCodec` 实现（占位/实验性）
+- 新增 `JetsonInferBackend/JetsonImageProcessor/JetsonCodec` 实现
+- 通过配置切换平台实现
+
+**关键里程碑**
+- 不影响 RK3588 默认路径
+- 新平台可在单机完成 smoke 测试
+
+**单元测试（GTest）**
+- `HwFactory_SelectsBackend_ByConfig`
+- `PlatformImpls_Smoke_Construct`（构造/释放）
+
+## 5. 风险与缓解
+- **接口过宽导致迁移成本增加** → 控制最小接口集，逐步扩展
+- **性能回退** → 保留 RK3588 默认实现与 DMA-BUF 快路径
+- **迁移破坏现有节点** → 节点逐个替换，保持旧路径可回退
+
+## 6. 验证与回滚
+### 验证命令
+```
+scripts/build_host.sh
+ctest --test-dir build/host --output-on-failure
+```
+
+### 回滚策略
+- 以编译开关/配置切换回旧路径
+- 保留 RK3588 实现作为默认后端
--- a/agent/build/rk3588-agent_linux_arm64
+++ b/agent/build/rk3588-agent_linux_arm64
--- a/agent/internal/httpapi/server.go
+++ b/agent/internal/httpapi/server.go
@ -10,6 +10,7 @@ import (
 	"mime"
 	"net/http"
 	"os"
+	"path/filepath"
 	"regexp"
 	"strconv"
 	"strings"
@ -28,6 +29,7 @@ type Server struct {
 	ms        *mediaserver.Client
 	store     *modelstore.Store
 	proc      *procctl.Controller
+	baseDir   string
 	deviceID  string
 	hostname  string
 	agentPort int
@ -60,6 +62,7 @@ func New(agentCfg config.AgentConfig, baseDir string, ms *mediaserver.Client, st
 		ms:        ms,
 		store:     store,
 		proc:      pc,
+		baseDir:   baseDir,
 		deviceID:  deviceID,
 		hostname:  sysinfo.Hostname(),
 		agentPort: agentPort,
@ -85,6 +88,7 @@ func New(agentCfg config.AgentConfig, baseDir string, ms *mediaserver.Client, st
 	mux.HandleFunc("/v1/media-server/restart", s.handleMediaRestart)
 	mux.HandleFunc("/v1/media-server/stop", s.handleMediaStop)
 	mux.HandleFunc("/v1/media-server/status", s.handleMediaStatus)
+	mux.HandleFunc("/v1/media-server/configs/", s.handleMediaConfigUpload)
 	mux.HandleFunc("/v1/graphs", s.handleGraphs)
 	mux.HandleFunc("/v1/graphs/", s.handleGraphDetail)
 	mux.HandleFunc("/v1/logs/recent", s.handleLogsRecent)
@ -205,6 +209,7 @@ func (s *Server) applyRootConfigBytes(ctx context.Context, body []byte) error {
 }

 var modelNameRE = regexp.MustCompile(`^[A-Za-z0-9._-]+$`)
+var configNameRE = regexp.MustCompile(`^[A-Za-z0-9._-]+$`)

 func (s *Server) handleModelUpload(w http.ResponseWriter, r *http.Request) {
 	if r.Method != http.MethodPut {
@ -285,6 +290,74 @@ func (s *Server) handleModelsList(w http.ResponseWriter, r *http.Request) {
 	writeJSON(w, http.StatusOK, m)
 }

+func (s *Server) handleMediaConfigUpload(w http.ResponseWriter, r *http.Request) {
+	if r.Method != http.MethodPut {
+		errorJSON(w, http.StatusMethodNotAllowed, "method not allowed")
+		return
+	}
+	if !s.authorize(r, true) {
+		errorJSON(w, http.StatusUnauthorized, "unauthorized")
+		return
+	}
+	if mt, _, err := mime.ParseMediaType(r.Header.Get("Content-Type")); err != nil || mt != "application/json" {
+		errorJSON(w, http.StatusBadRequest, "validation failed: Content-Type must be application/json")
+		return
+	}
+
+	name := strings.TrimPrefix(r.URL.Path, "/v1/media-server/configs/")
+	name = strings.TrimSpace(name)
+	finalName, err := normalizeConfigName(name)
+	if err != nil {
+		errorJSON(w, http.StatusBadRequest, "validation failed: invalid name")
+		return
+	}
+
+	configsDir, err := s.resolveConfigsDir()
+	if err != nil {
+		errorJSON(w, http.StatusNotImplemented, "not supported")
+		return
+	}
+
+	maxBytes := int64(s.agentCfg.MaxUploadMB) * 1024 * 1024
+	r.Body = http.MaxBytesReader(w, r.Body, maxBytes)
+	body, err := io.ReadAll(r.Body)
+	if err != nil {
+		if strings.Contains(err.Error(), "request body too large") {
+			errorJSON(w, http.StatusRequestEntityTooLarge, "payload too large")
+			return
+		}
+		errorJSON(w, http.StatusBadRequest, "invalid json: "+err.Error())
+		return
+	}
+	if len(body) == 0 {
+		errorJSON(w, http.StatusBadRequest, "validation failed: empty body")
+		return
+	}
+	var tmp any
+	if err := json.Unmarshal(body, &tmp); err != nil {
+		errorJSON(w, http.StatusBadRequest, "invalid json: "+err.Error())
+		return
+	}
+
+	dst := filepath.Join(configsDir, finalName)
+	if err := files.WriteFileAtomic(dst, append(body, '\n'), 0o644); err != nil {
+		errorJSON(w, http.StatusInternalServerError, "internal error: "+err.Error())
+		return
+	}
+	st, err := os.Stat(dst)
+	if err != nil {
+		errorJSON(w, http.StatusInternalServerError, "internal error: "+err.Error())
+		return
+	}
+	writeJSON(w, http.StatusOK, map[string]any{
+		"ok":       true,
+		"name":     finalName,
+		"path":     filepath.ToSlash(dst),
+		"size":     st.Size(),
+		"mtime_ms": st.ModTime().UnixMilli(),
+	})
+}
+
 func (s *Server) handleMediaReload(w http.ResponseWriter, r *http.Request) {
 	if r.Method != http.MethodPost {
 		errorJSON(w, http.StatusMethodNotAllowed, "method not allowed")
@ -447,6 +520,33 @@ func (s *Server) handleMediaStatus(w http.ResponseWriter, r *http.Request) {
 	writeJSON(w, http.StatusOK, map[string]any{"ok": true, "running": st.Running, "pid": st.Pid, "config_path": st.ConfigPath})
 }

+func normalizeConfigName(name string) (string, error) {
+	if name == "" || strings.Contains(name, "/") || strings.Contains(name, "\\") || strings.Contains(name, "..") {
+		return "", errors.New("invalid name")
+	}
+	if !configNameRE.MatchString(name) {
+		return "", errors.New("invalid name")
+	}
+	if !strings.HasSuffix(strings.ToLower(name), ".json") {
+		name += ".json"
+	}
+	return name, nil
+}
+
+func (s *Server) resolveConfigsDir() (string, error) {
+	base := strings.TrimSpace(s.agentCfg.MediaServerProcess.ConfigsDir)
+	if base == "" {
+		return "", errors.New("configs_dir is empty")
+	}
+	if filepath.IsAbs(base) {
+		return base, nil
+	}
+	if s.baseDir == "" {
+		return filepath.Clean(base), nil
+	}
+	return filepath.Join(s.baseDir, base), nil
+}
+
 func readOptionalJSON[T any](w http.ResponseWriter, r *http.Request, maxBytes int64) (T, error) {
 	var zero T
 	if r.Body == nil {
--- a/agent/orangepi@10.0.0.81
+++ b/agent/orangepi@10.0.0.81
@ -0,0 +1,29 @@
+{
+  "agent": {
+    "listen": "0.0.0.0:9100",
+    "token": "CHANGE_ME",
+    "require_token_for_read": false,
+
+    "discovery_enable": true,
+    "discovery_port": 35688,
+
+    "device_name": "cam1_strict_minio_alarm",
+    "device_id_path": "./device_id",
+
+    "models_dir": "./models",
+    "max_upload_mb": 200,
+
+    "config_path": "./configs/test_cam1_strict_minio_alarm_rtsp_server.json",
+    "media_server_process": {
+      "enable": true,
+      "exec_path": "../build/media-server",
+      "work_dir": "..",
+      "configs_dir": "../configs",
+      "pid_file": "./rk3588sys-media-server.pid",
+      "graceful_timeout_ms": 5000
+    },
+    "media_server_base_url": "http://127.0.0.1:9000",
+    "media_server_timeout_ms": 3000,
+    "media_server_retry": { "max_attempts": 3, "backoff_ms": [200, 500] }
+  }
+}
--- a/configs/sample_cam1_native_rtsp_face.json
+++ b/configs/sample_cam1_native_rtsp_face.json
@ -2,7 +2,7 @@
  "queue": { "size": 8, "strategy": "drop_oldest" },
  "graphs": [
    {
-      "name": "cam1_native_face_dual_output",
+      "name": "cam1_native_main",
      "nodes": [
        {
          "id": "in_cam1",
@ -30,7 +30,7 @@
          "dst_format": "rgb",
          "dst_packed": true,
          "keep_ratio": false,
-          "rga_gate": "cam1_native_face_dual_output",
+          "rga_gate": "cam1_native_main",
          "use_rga": true
        },
        {
@ -53,7 +53,7 @@
          "enable": true,
          "mode": "bytetrack_lite",
          "per_class": true,
-          "state_key": "cam1_native_face_dual_output",
+          "state_key": "cam1_native_main",
          "track_classes": [0],
          "ignore_classes": [],
          "allowed_models": ["yolov5", "yolov8"],
@ -86,7 +86,7 @@
          "dst_h": 720,
          "dst_format": "nv12",
          "keep_ratio": false,
-          "rga_gate": "cam1_native_face_dual_output",
+          "rga_gate": "cam1_native_main",
          "use_rga": true
        },
        {
@ -109,7 +109,7 @@
          "id": "alarm_cam1",
          "type": "alarm",
          "role": "sink",
-          "enable": true,
+          "enable": false,
          "eval_fps": 10,
          "labels": [],
          "rules": [
@ -125,7 +125,7 @@
          "actions": {
            "log": { "enable": true, "level": "info" },
            "snapshot": {
-              "enable": true,
+              "enable": false,
              "format": "jpg",
              "quality": 85,
              "upload": {
@ -138,7 +138,7 @@
              }
            },
            "clip": {
-              "enable": true,
+              "enable": false,
              "pre_sec": 5,
              "post_sec": 10,
              "format": "mp4",
@ -160,19 +160,47 @@
              "method": "POST"
            }
          }
-        },
-
+        }
+      ],
+      "edges": [
+        ["in_cam1", "pre_cam1"],
+        ["pre_cam1", "yolo_cam1"],
+        ["yolo_cam1", "trk_cam1"],
+        ["trk_cam1", "osd_cam1"],
+        ["osd_cam1", "post_cam1"],
+        ["post_cam1", "pub_cam1"],
+        ["pub_cam1", "alarm_cam1"]
+      ]
+    },
+    {
+      "name": "cam1_face_recog_rtsp",
+      "nodes": [
        {
-          "id": "pre_face_cam1",
+          "id": "in_cam1",
+          "type": "input_rtsp",
+          "role": "source",
+          "enable": true,
+          "url": "rtsp://10.0.0.5:8554/cam",
+          "fps": 30,
+          "width": 1280,
+          "height": 720,
+          "use_mpp": true,
+          "use_ffmpeg": false,
+          "force_tcp": true,
+          "reconnect_sec": 5,
+          "reconnect_backoff_max_sec": 30
+        },
+        {
+          "id": "pre_cam1",
          "type": "preprocess",
          "role": "filter",
          "enable": true,
-          "dst_w": 0,
-          "dst_h": 0,
+          "dst_w": 1280,
+          "dst_h": 720,
          "dst_format": "rgb",
          "dst_packed": true,
          "keep_ratio": false,
-          "rga_gate": "cam1_native_face_dual_output",
+          "rga_gate": "cam1_face_recog_rtsp",
          "use_rga": true
        },
        {
@ -225,11 +253,11 @@
          "type": "preprocess",
          "role": "filter",
          "enable": true,
-          "dst_w": 0,
-          "dst_h": 0,
+          "dst_w": 1280,
+          "dst_h": 720,
          "dst_format": "nv12",
          "keep_ratio": false,
-          "rga_gate": "cam1_native_face_dual_output",
+          "rga_gate": "cam1_face_recog_rtsp",
          "use_rga": true
        },
        {
@ -251,16 +279,8 @@
      ],
      "edges": [
        ["in_cam1", "pre_cam1"],
-        ["pre_cam1", "yolo_cam1"],
-        ["yolo_cam1", "trk_cam1"],
-        ["trk_cam1", "osd_cam1"],
-        ["osd_cam1", "post_cam1"],
-        ["post_cam1", "pub_cam1"],
-        ["pub_cam1", "alarm_cam1"],
-
-        ["in_cam1", "pre_face_cam1", {"queue": {"size": 1, "strategy": "drop_oldest"}}],
-        ["pre_face_cam1", "face_det_cam1", {"queue": {"size": 1, "strategy": "drop_oldest"}}],
-        ["face_det_cam1", "face_recog_cam1", {"queue": {"size": 1, "strategy": "drop_oldest"}}],
+        ["pre_cam1", "face_det_cam1"],
+        ["face_det_cam1", "face_recog_cam1"],
        ["face_recog_cam1", "osd_face_cam1"],
        ["osd_face_cam1", "post_face_cam1"],
        ["post_face_cam1", "pub_face_cam1"]
--- a/include/utils/config_schema.h
+++ b/include/utils/config_schema.h
@ -1,6 +1,7 @@
 #pragma once

 #include <string>
+#include <unordered_set>

 #include "utils/simple_json.h"

@ -185,12 +186,19 @@ inline bool ValidateExpandedRootConfig(const SimpleJson& root, std::string& err)
            err = "graph.edges must be array";
            return false;
        }
+        std::unordered_set<std::string> node_ids;
        for (const auto& nv : nodes->AsArray()) {
            std::string nerr;
            if (!ValidateNodeCfg(nv, nerr)) {
                err = "graph.nodes invalid: " + nerr;
                return false;
            }
+            const SimpleJson* id = nv.Find("id");
+            const std::string id_value = id ? id->AsString("") : "";
+            if (!id_value.empty() && !node_ids.insert(id_value).second) {
+                err = "graph.nodes duplicate id: " + id_value;
+                return false;
+            }
        }
        for (const auto& ev : edges->AsArray()) {
            std::string eerr;
@ -198,6 +206,30 @@ inline bool ValidateExpandedRootConfig(const SimpleJson& root, std::string& err)
                err = "graph.edges invalid: " + eerr;
                return false;
            }
+            std::string from;
+            std::string to;
+            if (ev.IsArray()) {
+                const auto& a = ev.AsArray();
+                if (a.size() >= 2) {
+                    from = a[0].AsString("");
+                    to = a[1].AsString("");
+                }
+            } else if (ev.IsObject()) {
+                if (const SimpleJson* v = ev.Find("from")) {
+                    from = v->AsString("");
+                }
+                if (const SimpleJson* v = ev.Find("to")) {
+                    to = v->AsString("");
+                }
+            }
+            if (!from.empty() && node_ids.find(from) == node_ids.end()) {
+                err = "graph.edges unknown node: " + from;
+                return false;
+            }
+            if (!to.empty() && node_ids.find(to) == node_ids.end()) {
+                err = "graph.edges unknown node: " + to;
+                return false;
+            }
        }
    }
    return true;
--- a/plugins/CMakeLists.txt
+++ b/plugins/CMakeLists.txt
@ -100,9 +100,13 @@ if(RK3588_ENABLE_RKNN AND RK_RKNN_LIB)
 endif()
 set_target_properties(ai_scheduler PROPERTIES
    OUTPUT_NAME "ai_scheduler"
+    ARCHIVE_OUTPUT_DIRECTORY ${RK_PLUGIN_OUTPUT_DIR}
    LIBRARY_OUTPUT_DIRECTORY ${RK_PLUGIN_OUTPUT_DIR}
    RUNTIME_OUTPUT_DIRECTORY ${RK_PLUGIN_OUTPUT_DIR}
 )
+if(WIN32)
+    set_target_properties(ai_scheduler PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
+endif()

 add_library(input_rtsp SHARED input_rtsp/input_rtsp_node.cpp)
 target_include_directories(input_rtsp PRIVATE ${CMAKE_SOURCE_DIR}/include ${CMAKE_SOURCE_DIR}/third_party)
--- a/plugins/alarm/actions/clip_action.cpp
+++ b/plugins/alarm/actions/clip_action.cpp
@ -13,6 +13,9 @@
 #include <thread>

 #if defined(_WIN32)
+#ifndef NOMINMAX
+#define NOMINMAX
+#endif
 #include <windows.h>
 #elif defined(__unix__) || defined(__APPLE__)
 #include <unistd.h>
--- a/tests/test_simple_json.cpp
+++ b/tests/test_simple_json.cpp
@ -74,7 +74,7 @@ TEST(SimpleJsonTest, ParseString) {
 TEST(SimpleJsonTest, ParseStringEscapes) {
    SimpleJson v;
    std::string err;
-    EXPECT_TRUE(ParseSimpleJson(R"("line1\nline2\ttab\\slash\"quote")", v, err));
+    EXPECT_TRUE(ParseSimpleJson("\"line1\\nline2\\ttab\\\\slash\\\"quote\"", v, err));
    EXPECT_TRUE(v.IsString());
    EXPECT_EQ(v.AsString(), "line1\nline2\ttab\\slash\"quote");
 }
--- a/tests/test_spsc_queue.cpp
+++ b/tests/test_spsc_queue.cpp
@ -237,18 +237,18 @@ TEST(SpscQueueTest, OnDataAvailableCallback) {
 }

 TEST(SpscQueueTest, ConcurrentPushPop) {
-    SpscQueue<int> q(100, QueueDropStrategy::DropOldest);
    constexpr int kNumItems = 10000;
+    SpscQueue<int> q(kNumItems, QueueDropStrategy::Block);

    std::atomic<int> sum{0};

-    std::thread producer([&q]() {
+    std::thread producer([&q, kNumItems]() {
        for (int i = 1; i <= kNumItems; ++i) {
            q.Push(i);
        }
    });

-    std::thread consumer([&q, &sum]() {
+    std::thread consumer([&q, &sum, kNumItems]() {
        int received = 0;
        while (received < kNumItems) {
            int v;
--- a/命令.md
+++ b/命令.md
@ -6,20 +6,22 @@
   ffmpeg -f dshow -video_size 1280x720 -vcodec mjpeg -i video="1080P USB Camera" -c:v libx264 -preset ultrafast -pix_fmt yuv420p -f rtsp rtsp://localhost:8554/cam

   cmake -S . -B build \
-        -DCMAKE_BUILD_TYPE=Release \
-        -DRK3588_ENABLE_FFMPEG=ON \
-        -DRK3588_ENABLE_MPP=ON \
-        -DRK3588_ENABLE_RGA=ON \
-        -DRK3588_ENABLE_ZLMEDIAKIT=ON \
-        -DRK3588_ENABLE_RKNN=ON \
-        -DRK_ZLMK_API_LIB_PATH=$PWD/third_party/rknpu2/examples/3rdparty/zlmediakit/aarch64/libmk_api.so \
-        -DRK_ZLMEDIAKIT_INCLUDE_DIR=$PWD/third_party/rknpu2/examples/3rdparty/zlmediakit/include
+       -DCMAKE_BUILD_TYPE=Release \
+       -DBUILD_TESTS=OFF \
+       -DBUILD_SAMPLES=ON \
+       -DRK3588_ENABLE_FFMPEG=ON \
+       -DRK3588_ENABLE_MPP=ON \
+       -DRK3588_ENABLE_RGA=ON \
+       -DRK3588_ENABLE_ZLMEDIAKIT=ON \
+       -DRK3588_ENABLE_RKNN=ON \
+       -DRK_ZLMK_API_LIB_PATH=$PWD/third_party/rknpu2/examples/3rdparty/zlmediakit/aarch64/libmk_api.so \
+       -DRK_ZLMEDIAKIT_INCLUDE_DIR=$PWD/third_party/rknpu2/examples/3rdparty/zlmediakit/include

   cmake --build build -j$(nproc)

   

-   
+    
 //退出
   pidof media-server

@ -112,4 +114,8 @@ ls -l ./rk3588-agent_linux_arm64
     sudo systemctl restart rk3588-agent

   这样运行后，SSH 断开不会影响进程（由 systemd 托管）。如果你的 agent.config.json 里有相对路径（如 models 目录），记得写成绝对路径，或放到
-   /opt/rk3588-agent/ 并按配置调整。
+   /opt/rk3588-agent/ 并按配置调整。
+
+
+  ## 后端启动命令
+  go run .\cmd\managerd\main.go .\managerd.json