private ExecutorService executorService;
private Future mFutureBitmapRunnable;

第一步：
this.executorService = Executors.newSingleThreadExecutor();
第二步：
on camera thread callback,do like below.
public void takePhoto(ImiDevice.ImiFrame frame) {
            if (mFutureBitmapRunnable != null && !mFutureBitmapRunnable.isDone()) {
                return;
            }
            ByteBuffer buf = frame.getData();
            buf.position(0);
            final byte[] rgb24 = new byte[buf.remaining()];
            buf.get(rgb24);
            final int width = frame.getWidth();
            final int height = frame.getHeight();
            mFutureBitmapRunnable = executorService.submit(new Runnable() {
                @Override
                public void run() {
                    //to do
                }
           });
}

安卓ADB安装启动。
安装命令：
adb install -r “xxx.apk”
adb shell “am start -n appid/package” [appid是在build.grade文件的applicationId][package是包名全路径]
//adb shell “am start -n \”com.commaai.facedoor.v3/com.commaai.facedoor.activity.MainActivity\””
adb shell “adm force-stop “appid/package”

@echo off
 
set apkname=%1%
 
::传入apk路径
echo 您输入了参数:%apkname% 
 
Set filename=%apkname%
set filename=%~nx1
echo 文件名为:%filename%
set folder=%~dp1
echo 路径为:%folder%
 
:tryagaint
adb connect 192.168.30.25:5555 
timeout /t 3
echo "install" && adb install -r %apkname% && goto myexit
timeout /t 10
goto tryagaint

:myexit
echo "success to install"
adb shell "am start -n \"com.commaai.facedoor.v3/com.commaai.facedoor.activity.MainActivity\""
pause

第一步：创建主运行脚本run.sh

#!/bin/sh

path_current=`pwd`
path_script=$(cd "$(dirname "$0")"; pwd)

while true
do
   /bin/bash $path_script/script/check.sh
   read -p "input action[killall|start|stop|help|exit]:" mode
   case "$mode" in
     'start')
        read -p "input device IP[192.168.30.25]: " ip
        read -p "input watch type such as [temp,frame,none],default none: " type
        echo "start parameter: IP: $ip  -  type:$type"
        if [ "$ip" != "" ]; then
            /bin/bash $path_script/script/start.sh "$ip:5555" "$type"
        fi
        if [ "$ip" == "" ]; then
           echo "IP should not be empty"
        fi
     ;;
     'stop')
        read -p "input device IP[192.168.30.25]: " ip
        echo "stop parameter: IP: $ip  -  type:$type"
        if [ "$ip" != "" ]; then
           /bin/bash $path_script/script/stop.sh "$ip:5555"
        fi
     ;;
     'killall')
         /bin/bash $path_script/script/killall.sh
     ;;
     'exit')
         exit 0
     ;;
     *)
     ;;
   esac     
done

第二步：创建script/connect.sh脚本

#!/bin/sh

path_current=`pwd`
path_script=$(cd "$(dirname "$0")"; pwd)

target=$1
if [ "$target" == "" ]; then
   echo "should add parameter to connect command, like connect.sh 192.168.30.25:5555"
   exit 1
fi
result=$(adb devices|grep "${target}"|grep -v offline|grep -v grep)
if [ "$result" != "" ]; then
   exit 0
fi
adb connect $target
adb -s "$target" root

第三步：创建script/check.sh脚本

#!/bin/sh

path_current=`pwd`
path_script=$(cd "$(dirname "$0")"; pwd)
ps -ef | grep "mylogcat" | grep -v grep
ps -ef | grep "mytail" | grep -v grep
ps -ef | grep "adb" | grep -v grep

第三步：创建script/stop.sh脚本

#!/bin/sh

path_current=`pwd`
path_script=$(cd "$(dirname "$0")"; pwd)

target=$1
if [ "$target" == "" ]; then
   echo "should like 192.168.30.25:5555"
   exit 1
fi

ps -ef | grep "$target"| grep -v grep

while true
do
  app_process=`ps -ef | grep "$target"| grep -v grep`
  echo $app_process | awk '{print ($2)}'
  stop=1
  if test -n "$app_process"; then
     echo "had find app process informaton"
     echo $app_process | awk '{print ($2)}' | xargs kill -9
     stop=0
  fi
  if [ $stop -eq 1 ]; then
    break;
  fi
done

第四步：创建启动脚本script/start.sh

#!/bin/sh

path_current=`pwd`
path_script=$(cd "$(dirname "$0")"; pwd)

target=$1
param=$2
if [ "$target" == "" ]; then
   echo "should like run.sh 192.168.30.25:5555 temp,frame"
   exit 1
fi

nohup /bin/bash ${path_script}/mytail.sh $* &
nohup /bin/bash ${path_script}/mylogcat.sh $* &

第五步：创建mytail.sh脚本

#!/bin/sh

path_current=`pwd`
path_script=$(cd "$(dirname "$0")"; pwd)
path_data=$path_script/../

target=$1
param=$2
if [ "$target" == "" ]; then
   echo "should like mytail.sh 192.168.30.25 temp,frame"
   exit 1
fi

while true
do
  run_time=$(date "+%Y%m%d%H%M")
  if [ ! -d "$path_data/${target}" ]; then
     mkdir -p "$path_data/${target}"
  fi
  echo "--------[${run_time}]----------------" >> $path_data/${target}/tail.txt
  /bin/bash $path_script/connect.sh $*
  adb -s "$target" shell "free -h" >> $path_data/${target}/tail.txt
  adb -s "$target" shell "top -n 1|grep com.commaai." >> $path_data/${target}/tail.txt
  sleep 1
  adb -s "$target" shell "top -n 1|grep com.commaai." >> $path_data/${target}/tail.txt
  temp=$(echo $param | grep "temp")
  if [ "$temp" != "" ];then
     adb  -s "$target" shell "cat /sys/class/thermal/thermal_zone*/temp" >>  $path_data/${target}/tail.txt
  fi
  frame=$(echo $param | grep "frame")
  if [ "$frame" != "" ];then
     adb  -s "$target" shell "tail -n 2 /storage/emulated/0/Log/brokenflow.txt" >>  $path_data/${target}/tail.txt
  fi
  sleep 50
done

第六步：创建script/mylogcat.sh脚本

#!/bin/sh

path_current=`pwd`
path_script=$(cd "$(dirname "$0")"; pwd)
path_data=$path_script/../;

target=$1
while true
do
  run_time=$(date "+%Y%m%d%H%M")
  /bin/bash $path_script/connect.sh $*
  if [ ! -d "$path_data/${target}" ]; then
     mkdir -p "$path_data/${target}"
  fi
  echo "--------[${run_time}]----------------" >> $path_data/${target}/error.txt
  adb -s "$target" logcat *:E >> $path_data/${target}/error.txt
done

第七步：创建清除所有脚本

#!/bin/sh

path_current=`pwd`
path_script=$(cd "$(dirname "$0")"; pwd)
echo "try to kill mylogcat"
while true
do
  app_process=$(ps -ef | grep "mylogcat" | grep -v grep)
  echo $app_process | awk '{print ($2)}'
  stop=1
  if test -n "$app_process"; then
    echo "had find app process informaton"
    echo $app_process | awk '{print ($2)}' | xargs kill -9
    stop=0
  fi
  if [ $stop -eq 1 ]; then
    break
  fi
done

echo "try to kill mytail"
while true
do  
  app_process=$(ps -ef | grep "mytail" | grep -v grep)
  echo $app_process | awk '{print ($2)}'
  stop=1
  if test -n "$app_process"; then
    echo "had find app process informaton"
    echo $app_process | awk '{print ($2)}' | xargs kill -9
    stop=0
  fi
  if [ $stop -eq 1 ]; then
     break;
  fi
done


echo "try to kill adb"
while true
do  
  app_process=$(ps -ef | grep "adb" | grep -v grep)
  echo $app_process | awk '{print ($2)}'
  stop=1
  if test -n "$app_process"; then
    echo "had find app process informaton"
    echo $app_process | awk '{print ($2)}' | xargs kill -9
    stop=0
  fi
  if [ $stop -eq 1 ]; then
    break;
  fi
done