feat: 添加I2C与Camera初始化的支持

server/src/Peripherals/CameraClient.cs

@@ -35,6 +35,25 @@ class Camera
         this.timeout = timeout;
     }
 
+    public async ValueTask<Result<bool>> Init()
+    {
+        var i2c = new Peripherals.I2cClient.I2c(this.address, this.port, this.timeout);
+        var ret = await i2c.WriteData(0x78, new byte[] { 0x08, 0x30, 0x02 }, Peripherals.I2cClient.I2cProtocol.I2c);
+        if (!ret.IsSuccessful)
+        {
+            logger.Error($"I2C write failed during camera initialization for {this.address}:{this.port}, error: {ret.Error}");
+            return new(ret.Error);
+        }
+
+        if (!ret.Value)
+        {
+            logger.Error($"I2C write returned unsuccessful result during camera initialization for {this.address}:{this.port}");
+            return false;
+        }
+
+        return true;
+    }
+
     /// <summary>
     /// 读取一帧图像数据
     /// </summary>
@@ -47,7 +66,7 @@ class Camera
         logger.Trace($"Clear up udp server {this.address} receive data");
 
         // 使用UDPClientPool读取图像帧数据
-        var result = await UDPClientPool.ReadAddrBytes(
+        var result = await UDPClientPool.ReadAddr4Bytes(
             this.ep,
             2, // taskID
             CameraAddr.Base,