机械臂摄像头

agv_app/app.py

@@ -1130,26 +1130,16 @@ def api_camera_capture():
 
 @app.route("/api/camera/arm_refresh")
 def api_arm_camera_refresh():
-    """从机械臂拉一张 JPEG（流式读第一个完整帧）"""
+    """从机械臂拉一张 JPEG（请求 snapshot 端点，简单 HTTP GET）"""
     import requests
     try:
-        r = requests.get(ARM_CAMERA_CONFIG["url"], stream=True, timeout=8)
-        if r.status_code != 200:
-            return "", 404
-        data = b""
-        for chunk in r.iter_content(chunk_size=8192):
-            data += chunk
-            # 在累积数据中找 JPEG 完整帧
-            s = data.find(b"\xff\xd8")
-            e = data.find(b"\xff\xd9", s + 2) if s >= 0 else -1
-            if s >= 0 and e > s:
-                r.close()
-                return Response(data[s:e+2], mimetype="image/jpeg")
-            # 累积超过 5MB 还没找到完整帧，说明流异常，放弃
-            if len(data) > 5 * 1024 * 1024:
-                r.close()
-                return "", 404
-        r.close()
+        r = requests.get(ARM_CAMERA_CONFIG.get("snapshot_url", ARM_CAMERA_CONFIG["url"]), timeout=8)
+        if r.status_code == 200 and r.content:
+            resp = Response(r.content, mimetype="image/jpeg")
+            resp.headers["Cache-Control"] = "no-cache, no-store, must-revalidate, max-age=0"
+            resp.headers["Pragma"] = "no-cache"
+            resp.headers["Expires"] = "0"
+            return resp
         return "", 404
     except Exception as ex:
         logger.error(f"arm_refresh 失败: {ex}")

agv_app/config.py

@@ -40,6 +40,7 @@ CAMERA_CONFIG = {
 # ========== 机械臂摄像头流 ==========
 ARM_CAMERA_CONFIG = {
     "url": "http://192.168.110.164:5003/api/camera/preview",
+    "snapshot_url": "http://192.168.110.164:5003/api/camera/snapshot",
 }
 
 # ========== HTTP 上传 ==========