-

agv_app/app.py

@@ -1132,6 +1132,38 @@ def api_arm_camera_refresh():
         return "", 404
 
 
+@app.route("/api/camera/arm_preview")
+def api_arm_camera_preview():
+    """代理机械臂 MJPEG 视频流，供页面连续预览。"""
+    import requests
+    try:
+        upstream = requests.get(
+            ARM_CAMERA_CONFIG["url"],
+            stream=True,
+            timeout=(3, 10),
+        )
+        if upstream.status_code != 200:
+            upstream.close()
+            return "", 404
+
+        def generate():
+            try:
+                for chunk in upstream.iter_content(chunk_size=8192):
+                    if chunk:
+                        yield chunk
+            finally:
+                upstream.close()
+
+        return Response(
+            generate(),
+            mimetype="multipart/x-mixed-replace; boundary=frame",
+            headers={"Cache-Control": "no-cache, no-store, must-revalidate, max-age=0"},
+        )
+    except Exception as ex:
+        logger.error(f"arm_preview 失败: {ex}")
+        return "", 404
+
+
 @app.route("/api/camera/qr_scan", methods=["GET"])
 def api_qr_scan():
     """扫描一次二维码"""

agv_app/static/js/app.js

@@ -16,7 +16,7 @@ createApp({
       currentState: 'idle',
       // 摄像头轮询
       agvCameraSrc: '/api/camera/refresh?t=' + Date.now(),
-      armCameraSrc: '/api/camera/arm_refresh?t=' + Date.now(),
+      armCameraSrc: '/api/camera/arm_preview?t=' + Date.now(),
       agvCameraError: false,
       armCameraError: false,
       reconnectingDevice: null
@@ -43,7 +43,9 @@ createApp({
   methods: {
     refreshCams() {
       this.agvCameraSrc = '/api/camera/refresh?t=' + Date.now()
-      this.armCameraSrc = '/api/camera/arm_refresh?t=' + Date.now()
+      if (!this.armCameraSrc.startsWith('/api/camera/arm_preview')) {
+        this.armCameraSrc = '/api/camera/arm_preview?t=' + Date.now()
+      }
     },
     async refresh() {
       await this.refreshStatus()

agv_app/static/js/running.js

@@ -9,7 +9,7 @@ createApp({
       tasks: [],
       report: null,
       agvPreviewUrl: API + '/api/camera/preview',
-      armPreviewUrl: API + '/api/camera/arm_refresh',
+      armPreviewUrl: API + '/api/camera/arm_preview',
       polling: null,
       logs: [],
       showQrModal: false,
@@ -265,4 +265,4 @@ createApp({
       return ms[field] || ''
     }
   }
-}).mount('#app')
+}).mount('#app')

agv_app/static/js/setting.js

@@ -57,7 +57,7 @@ createApp({
       qrScanning: false,
       qrConfigs: [],
       qrScanningId: null,
-      armCameraUrl: API + '/api/camera/arm_refresh',
+      armCameraUrl: API + '/api/camera/arm_preview',
       newQrName: '',
       armInitialPose: [0, 0, 0, 0, 0, 0],
     }
@@ -67,11 +67,7 @@ createApp({
     this.refreshAngles()
     this.loadQrConfigs()
     this.nav2Timer = setInterval(this.refreshNavStatus, 3000)
-    // 机械臂摄像头自动刷新（每2秒）
-    this.armCameraUrl = API + '/api/camera/arm_refresh?t=' + Date.now()
-    this.armCameraTimer = setInterval(() => {
-      this.armCameraUrl = API + '/api/camera/arm_refresh?t=' + Date.now()
-    }, 2000)
+    this.armCameraUrl = API + '/api/camera/arm_preview?t=' + Date.now()
   },
   computed: {
     hasQr() {

agv_app/templates/index.html

@@ -99,7 +99,7 @@
             <div v-else-if="!cameraOpened" class="camera-placeholder">未打开（先点击连接设备）</div>
           </div>
           <div class="camera-box">
-            <div class="camera-label">机械臂摄像头 <button class="btn btn-small" @click="armCameraSrc='/api/camera/arm_refresh?t='+Date.now(); armCameraError=false">刷新</button></div>
+            <div class="camera-label">机械臂摄像头 <button class="btn btn-small" @click="armCameraSrc='/api/camera/arm_preview?t='+Date.now(); armCameraError=false">刷新</button></div>
             <img v-if="armCameraOpened && !armCameraError" :src="armCameraSrc" class="camera-img" @error="armCameraError=true">
             <div v-if="armCameraOpened && armCameraError" class="camera-placeholder">机械臂摄像头异常</div>
             <div v-else-if="!armCameraOpened" class="camera-placeholder">未连接</div>