Add continuous TensorRT camera inference and ready-to-run Orin package

include/stop_signals.hpp

@@ -0,0 +1,36 @@
+#pragma once
+#include "camera_pipeline.hpp"
+#include <atomic>
+#include <csignal>
+#include <pthread.h>
+#include <stdexcept>
+#include <thread>
+
+namespace cms {
+// Construct before starting workers so all threads inherit the signal mask.
+// Stop requests run in an ordinary thread, never an asynchronous signal handler.
+class StopSignals {
+public:
+    explicit StopSignals(CameraPipeline& pipeline):pipeline_(pipeline) {
+        sigemptyset(&signals_);sigaddset(&signals_,SIGINT);sigaddset(&signals_,SIGTERM);
+        if(pthread_sigmask(SIG_BLOCK,&signals_,&old_)!=0)throw std::runtime_error("Cannot block termination signals");
+        try {
+            thread_=std::thread([this]{
+                while(!done_) {
+                    timespec timeout{0,100000000};
+                    int signal=sigtimedwait(&signals_,nullptr,&timeout);
+                    if(signal==SIGINT||signal==SIGTERM){pipeline_.requestStop();break;}
+                }
+            });
+        }catch(...){pthread_sigmask(SIG_SETMASK,&old_,nullptr);throw;}
+    }
+    ~StopSignals(){done_=true;if(thread_.joinable())thread_.join();pthread_sigmask(SIG_SETMASK,&old_,nullptr);}
+    StopSignals(StopSignals const&)=delete;
+    StopSignals& operator=(StopSignals const&)=delete;
+private:
+    CameraPipeline& pipeline_;
+    sigset_t signals_{},old_{};
+    std::atomic<bool> done_{false};
+    std::thread thread_;
+};
+}