二维码位置配置

agv_app/app.py

@@ -1130,14 +1130,14 @@ 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，超时则降级）"""
+    """从机械臂拉一张 JPEG（流式读第一个完整帧）"""
     import requests
     try:
-        r = requests.get(ARM_CAMERA_CONFIG["url"], stream=True, timeout=5)
+        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=4096):
+        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")
@@ -1145,8 +1145,8 @@ def api_arm_camera_refresh():
             if s >= 0 and e > s:
                 r.close()
                 return Response(data[s:e+2], mimetype="image/jpeg")
-            # 数据太长还没找到 JPEG 也直接返回（可能是空流）
-            if len(data) > 1024 * 1024:
+            # 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()
@@ -1460,6 +1460,16 @@ if __name__ == "__main__":
     gs.qr_scanner = QRScanner(CAMERA_CONFIG["device_index"])
     gs.camera_opened = gs.qr_scanner.open()
     logger.info(f"AGV 摄像头初始化: {'成功' if gs.camera_opened else '失败'}")
+    # 启动时自动检测机械臂摄像头
+    try:
+        import requests as _startup_req
+        r = _startup_req.get(ARM_CAMERA_CONFIG["url"], stream=True, timeout=5)
+        gs.arm_camera_opened = (r.status_code == 200)
+        r.close()
+        logger.info(f"机械臂摄像头检测: {'成功' if gs.arm_camera_opened else '失败'}")
+    except Exception as _e:
+        gs.arm_camera_opened = False
+        logger.warning(f"机械臂摄像头检测失败: {_e}")
     app.run(
         host=SERVER_CONFIG["host"],
         port=SERVER_CONFIG["port"],