update OrbbecSDK version to 2.8.1

orbbec_camera/SDK/include/libobsensor/hpp/Error.hpp

@@ -26,7 +26,7 @@ private:
      */
     explicit Error(ob_error *error) : impl_(error) {};
 
-    Error& operator=(const Error&) = default;
+    Error &operator=(const Error &) = default;
 
 public:
     /**
@@ -106,6 +106,15 @@ public:
         return impl_->message;
     }
 
+    /**
+     * @brief Returns the error status code of the exception.
+     *
+     * @return OBStatus The error status code.
+     */
+    OBStatus getStatus() const noexcept {
+        return impl_->status;
+    }
+
 public:
     // The following interfaces are deprecated and are retained here for compatibility purposes.
     const char *getName() const noexcept {
@@ -113,4 +122,3 @@ public:
     }
 };
 }  // namespace ob
-

orbbec_camera/SDK/include/libobsensor/hpp/Pipeline.hpp

@@ -289,8 +289,9 @@ public:
     typedef std::function<void(std::shared_ptr<FrameSet> frame)> FrameSetCallback;
 
 private:
-    ob_pipeline_t   *impl_;
-    FrameSetCallback callback_;
+    ob_pipeline_t                               *impl_;
+    FrameSetCallback                             callback_;
+    std::function<void(OBPipelineStatus status)> statusCallback_;
 
 public:
     /**
@@ -354,6 +355,13 @@ public:
         pipeline->callback_(std::make_shared<FrameSet>(frameSet));
     }
 
+    static void healthMonitorCallback(ob_pipeline_status status, void *userData) {
+        auto pipeline = static_cast<Pipeline *>(userData);
+        if(pipeline->statusCallback_) {
+            pipeline->statusCallback_(status);
+        }
+    }
+
     /**
      * @brief Stop the pipeline
      */
@@ -454,6 +462,40 @@ public:
         Error::handle(&error);
     }
 
+    /**
+     * @brief Get the current pipeline status observed during streaming.
+     *
+     * @return OBPipelineStatus The accumulated status since the last call or pipeline start. Status is reset after each call.
+     */
+    OBPipelineStatus getStatus() const {
+        ob_error        *error  = nullptr;
+        OBPipelineStatus status = ob_pipeline_get_status(impl_, &error);
+        Error::handle(&error);
+        return status;
+    }
+
+    /**
+     * @brief Enable pipeline health monitor with periodic status polling.
+     *
+     * @param[in] callback The callback function invoked when abnormal status is detected (from internal thread, avoid blocking).
+     * @param[in] intervalMs Polling interval in milliseconds (recommended: 3000-5000, default: 3000).
+     */
+    void enableHealthMonitor(std::function<void(OBPipelineStatus status)> callback, uint32_t intervalMs = 3000) {
+        statusCallback_ = callback;
+        ob_error *error = nullptr;
+        ob_pipeline_enable_health_monitor(impl_, &Pipeline::healthMonitorCallback, this, intervalMs, &error);
+        Error::handle(&error);
+    }
+
+    /**
+     * @brief Disable pipeline health monitor.
+     */
+    void disableHealthMonitor() const {
+        ob_error *error = nullptr;
+        ob_pipeline_disable_health_monitor(impl_, &error);
+        Error::handle(&error);
+    }
+
 public:
     // The following interfaces are deprecated and are retained here for compatibility purposes.