add stream raw frame access

example/cpp/main.cpp

@@ -1,3 +1,4 @@
+#include <algorithm>
 #include <chrono>
 #include <condition_variable>
 #include <cstdint>
@@ -7,6 +8,7 @@
 #include <queue>
 #include <string>
 #include <thread>
+#include <vector>
 
 #include "../../include/eskin_ffi.h"
 
@@ -64,20 +66,34 @@ static void demo_streaming(EskinDeviceHandle device, double duration_sec = 5.0)
     // 线程安全队列（参考 ROS publisher 的 read_loop + publish_callback 分离模式）
     std::mutex mtx;
     std::queue<CFingerSample> queue;
+    std::queue<std::vector<uint8_t>> raw_queue;
     bool running = true;
 
-    // 读取线程：持续从设备读取 sample 放入队列
+    // 读取线程：持续从设备读取 sample 和原始帧放入队列
     std::thread read_thread([&]() {
         while (running) {
             CFingerSample sample;
             memset(&sample, 0, sizeof(sample));
             auto e = eskin_read_sample(device, 50, &sample);
             if (e == ESkinSuccess) {
+                uint8_t raw_buf[512] = {};
+                uint32_t raw_len = 0;
+                auto raw_err = eskin_read_stream_frame(
+                    device, 1, raw_buf, sizeof(raw_buf), &raw_len);
+                std::vector<uint8_t> raw_frame;
+                if (raw_err == ESkinSuccess) {
+                    raw_frame.assign(raw_buf, raw_buf + std::min<uint32_t>(raw_len, sizeof(raw_buf)));
+                }
+
                 std::lock_guard<std::mutex> lock(mtx);
                 queue.push(sample);
+                raw_queue.push(std::move(raw_frame));
                 while (queue.size() > 100) {
                     queue.pop();  // 防止堆积
                 }
+                while (raw_queue.size() > 100) {
+                    raw_queue.pop();
+                }
             }
             // 超时等非致命错误忽略，继续读取
         }
@@ -96,11 +112,18 @@ static void demo_streaming(EskinDeviceHandle device, double duration_sec = 5.0)
             std::lock_guard<std::mutex> lock(mtx);
             while (!queue.empty()) {
                 const auto &s = queue.front();
-                printf("[%5u] module=%u  fx=%u  fy=%u  fz=%u\n",
+                size_t raw_len = 0;
+                if (!raw_queue.empty()) {
+                    raw_len = raw_queue.front().size();
+                    raw_queue.pop();
+                }
+
+                printf("[%5u] module=%u  fx=%u  fy=%u  fz=%u  raw_len=%zu\n",
                        s.sequence, s.combined_force.module,
                        s.combined_force.force.fx,
                        s.combined_force.force.fy,
-                       s.combined_force.force.fz);
+                       s.combined_force.force.fz,
+                       raw_len);
                 queue.pop();
                 count++;
             }
@@ -145,4 +168,4 @@ int main(int argc, char *argv[]) {
     eskin_close(device);
     printf("Device closed\n");
     return 0;
-}
+}