fix: 修复6个边缘侧问题 + 单元测试

1. 删除 ConfigAgent (与 MQTT 配置更新重叠且未启用)
2. OTA 完整安装流程: 解压tar.gz -> 校验ELF -> 替换二进制 -> systemctl重启
3. StreamManager stopAll 添加 Wait() 防止僵尸进程
4. InferClient socket 读写添加 timeout 防止永久阻塞
5. Heartbeat 集成 NPU 监控 (npu-smi + fallback 脚本)
6. 配置更新时动态重启 ffmpeg 以应用新 fps

internal/stream/ingestor.go

@@ -22,10 +22,15 @@ type Frame struct {
 	TS       float64
 }
 
+type streamProcess struct {
+	cmd *exec.Cmd
+	fps int
+}
+
 type StreamManager struct {
 	cfg       *config.Config
 	frames    chan<- Frame
-	processes map[string]*exec.Cmd
+	processes map[string]*streamProcess // url -> {cmd, fps}
 	mu        sync.Mutex
 	updates   <-chan *config.Config
 }
@@ -34,14 +39,14 @@ func NewStreamManager(cfg *config.Config, frames chan<- Frame, updates <-chan *c
 	return &StreamManager{
 		cfg:       cfg,
 		frames:    frames,
-		processes: make(map[string]*exec.Cmd),
+		processes: make(map[string]*streamProcess),
 		updates:   updates,
 	}
 }
 
 func (sm *StreamManager) Run(ctx context.Context) {
 	// Initial start
-	sm.applyStreams(ctx, sm.cfg.RTSPURLs)
+	sm.applyStreams(ctx, sm.cfg.RTSPURLs, sm.cfg.InferFPS)
 
 	for {
 		select {
@@ -49,19 +54,19 @@ func (sm *StreamManager) Run(ctx context.Context) {
 			sm.stopAll()
 			return
 		case newCfg := <-sm.updates:
-			log.Printf("stream: applying new config, urls=%d", len(newCfg.RTSPURLs))
-			sm.applyStreams(ctx, newCfg.RTSPURLs)
+			log.Printf("stream: applying new config, urls=%d fps=%d", len(newCfg.RTSPURLs), newCfg.InferFPS)
+			sm.applyStreams(ctx, newCfg.RTSPURLs, newCfg.InferFPS)
 		}
 	}
 }
 
-func (sm *StreamManager) applyStreams(ctx context.Context, urls []string) {
+func (sm *StreamManager) applyStreams(ctx context.Context, urls []string, fps int) {
 	sm.mu.Lock()
 	defer sm.mu.Unlock()
 
 	// Identify URLs to remove (present in sm.processes but not in new urls)
-	toRemove := map[string]*exec.Cmd{}
-	for url, cmd := range sm.processes {
+	toRemove := map[string]*streamProcess{}
+	for url, sp := range sm.processes {
 		found := false
 		for _, u := range urls {
 			if u == url {
@@ -70,27 +75,35 @@ func (sm *StreamManager) applyStreams(ctx context.Context, urls []string) {
 			}
 		}
 		if !found {
-			toRemove[url] = cmd
+			toRemove[url] = sp
 		}
 	}
 
 	// Stop removed streams
-	for url, cmd := range toRemove {
+	for url, sp := range toRemove {
 		log.Printf("stream: stopping %s", url)
-		cmd.Process.Kill()
-		cmd.Wait()
+		sm.stopProcess(sp)
 		delete(sm.processes, url)
 	}
 
-	// Start new streams
+	// Restart streams with changed fps
+	for url, sp := range sm.processes {
+		if sp.fps != fps {
+			log.Printf("stream: restarting %s (fps %d -> %d)", url, sp.fps, fps)
+			sm.stopProcess(sp)
+			delete(sm.processes, url)
+		}
+	}
+
+	// Start new / restarted streams
 	for i, url := range urls {
 		if _, exists := sm.processes[url]; !exists {
-			go sm.streamLoop(ctx, i, url)
+			go sm.streamLoop(ctx, i, url, fps)
 		}
 	}
 }
 
-func (sm *StreamManager) streamLoop(ctx context.Context, idx int, url string) {
+func (sm *StreamManager) streamLoop(ctx context.Context, idx int, url string, fps int) {
 	deviceID := fmt.Sprintf("cam-%03d", idx)
 	for {
 		select {
@@ -99,9 +112,17 @@ func (sm *StreamManager) streamLoop(ctx context.Context, idx int, url string) {
 		default:
 		}
 
+		// Use current config fps (may have been updated)
+		currentFps := fps
+		sm.mu.Lock()
+		if sm.cfg != nil && sm.cfg.InferFPS > 0 {
+			currentFps = sm.cfg.InferFPS
+		}
+		sm.mu.Unlock()
+
 		cmd := exec.CommandContext(ctx, "ffmpeg",
 			"-i", url,
-			"-vf", fmt.Sprintf("fps=%d", sm.cfg.InferFPS),
+			"-vf", fmt.Sprintf("fps=%d", currentFps),
 			"-f", "image2pipe", "-vcodec", "mjpeg", "-q:v", "5", "-",
 		)
 		stdout, err := cmd.StdoutPipe()
@@ -111,20 +132,29 @@ func (sm *StreamManager) streamLoop(ctx context.Context, idx int, url string) {
 			continue
 		}
 
+		sp := &streamProcess{cmd: cmd, fps: currentFps}
 		sm.mu.Lock()
-		sm.processes[url] = cmd
+		sm.processes[url] = sp
 		sm.mu.Unlock()
 
 		if err := cmd.Start(); err != nil {
 			log.Printf("stream[%d] start failed: %v", idx, err)
+			sm.mu.Lock()
+			delete(sm.processes, url)
+			sm.mu.Unlock()
 			time.Sleep(5 * time.Second)
 			continue
 		}
 
-		log.Printf("stream[%d] connected  url=%s", idx, url)
+		log.Printf("stream[%d] connected fps=%d url=%s", idx, currentFps, url)
 		sm.readFrames(ctx, stdout, idx, deviceID, url)
 		cmd.Wait()
 
+		// Clean up from map after exit
+		sm.mu.Lock()
+		delete(sm.processes, url)
+		sm.mu.Unlock()
+
 		select {
 		case <-ctx.Done():
 			return
@@ -175,12 +205,20 @@ func (sm *StreamManager) readFrames(ctx context.Context, r io.Reader, idx int, d
 	}
 }
 
+func (sm *StreamManager) stopProcess(sp *streamProcess) {
+	if sp == nil || sp.cmd == nil || sp.cmd.Process == nil {
+		return
+	}
+	sp.cmd.Process.Kill()
+	sp.cmd.Wait() // Prevent zombie processes
+}
+
 func (sm *StreamManager) stopAll() {
 	sm.mu.Lock()
 	defer sm.mu.Unlock()
-	for url, cmd := range sm.processes {
+	for url, sp := range sm.processes {
 		log.Printf("stream: stopping all %s", url)
-		cmd.Process.Kill()
+		sm.stopProcess(sp)
 		delete(sm.processes, url)
 	}
 }