机械臂识别二维码

agv_app/app.py

@@ -1379,18 +1379,11 @@ def api_qr_config_scan(qr_id):
     try:
         import cv2
         import numpy as np
-        # 从机械臂摄像头拉取一帧 JPEG
-        r = requests.get(ARM_CAMERA_CONFIG["url"], stream=True, timeout=5)
-        if r.status_code != 200:
+        # 从机械臂摄像头 snapshot 端点拉取一帧 JPEG
+        r = requests.get(ARM_CAMERA_CONFIG.get("snapshot_url", ARM_CAMERA_CONFIG["url"]), timeout=8)
+        if r.status_code != 200 or not r.content:
             return jsonify({"ok": False, "error": "无法连接机械臂摄像头"}), 400
-        data = b""
-        for chunk in r.iter_content(chunk_size=4096):
-            data += chunk
-            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()
-                jpg_bytes = data[s:e+2]
+        jpg_bytes = r.content
         # 解码为 numpy 数组并检测二维码
         nparr = np.frombuffer(jpg_bytes, np.uint8)
         frame = cv2.imdecode(nparr, cv2.IMREAD_COLOR)
@@ -1424,11 +1417,6 @@ def api_qr_config_scan(qr_id):
             return jsonify({"ok": False, "error": f"二维码 {qr_id} 不存在"}), 404
         else:
             return jsonify({"ok": False, "error": "未检测到二维码"})
-            if len(data) > 1024 * 1024:
-                r.close()
-                return jsonify({"ok": False, "error": "摄像头数据流异常"}), 400
-        r.close()
-        return jsonify({"ok": False, "error": "未收到完整图像帧"}), 400
     except Exception as ex:
         logger.error(f"QR 扫描机械臂摄像头失败: {ex}")
         return jsonify({"ok": False, "error": f"扫描失败: {str(ex)}"}), 400