二维码位置配置

arm_server/arm_server.py

@@ -35,39 +35,47 @@ ARM_CAMERA_INDEX = 0   # 机械臂端摄像头设备号
 _ffmpeg_proc = None
 
 
+def _ensure_ffmpeg():
+    """确保 ffmpeg 进程在运行，自动重启崩溃的进程"""
+    global _ffmpeg_proc
+    if _ffmpeg_proc is None or _ffmpeg_proc.poll() is not None:
+        logger.info(f"启动 ffmpeg 视频流 (Video{ARM_CAMERA_INDEX})")
+        _ffmpeg_proc = subprocess.Popen(
+            [
+                "ffmpeg",
+                "-f", "v4l2",
+                "-input_format", "mjpeg",
+                "-i", f"/dev/video{ARM_CAMERA_INDEX}",
+                "-vf", "rotate=PI",
+                "-q:v", "8",
+                "-f", "mjpeg",
+                "-"
+            ],
+            stdout=subprocess.PIPE,
+            stderr=subprocess.DEVNULL,
+        )
+        time.sleep(2.0)  # 等待 ffmpeg 初始化完成（设备冷启动可能需要更久）
+
+
 @arm_video_app.route("/api/camera/preview")
 def arm_camera_preview():
     """机械臂摄像头 MJPEG 流 (ffmpeg)"""
-    global _ffmpeg_proc
+    _ensure_ffmpeg()
 
     def generate():
         global _ffmpeg_proc
-        # 启动 ffmpeg 进程（如果尚未运行）
-        if _ffmpeg_proc is None or _ffmpeg_proc.poll() is not None:
-            logger.info(f"启动 ffmpeg 视频流 (Video{ARM_CAMERA_INDEX})")
-            _ffmpeg_proc = subprocess.Popen(
-                [
-                    "ffmpeg",
-                    "-f", "v4l2",
-                    "-input_format", "mjpeg",
-                    "-i", f"/dev/video{ARM_CAMERA_INDEX}",
-                    "-vf", "rotate=PI",
-                    "-q:v", "8",
-                    "-f", "mjpeg",
-                    "-"
-                ],
-                stdout=subprocess.PIPE,
-                stderr=subprocess.DEVNULL,
-            )
-            time.sleep(0.5)  # 等待 ffmpeg 初始化
-
         try:
             while True:
                 if _ffmpeg_proc is None or _ffmpeg_proc.poll() is not None:
-                    break
+                    _ensure_ffmpeg()
                 jpeg = _ffmpeg_proc.stdout.read(65536)
                 if not jpeg:
-                    break
+                    # ffmpeg 无数据输出，重启它
+                    logger.warning("ffmpeg stdout 空，重启")
+                    _ffmpeg_proc.terminate()
+                    _ffmpeg_proc = None
+                    _ensure_ffmpeg()
+                    continue
                 yield (b"--frame\r\nContent-Type: image/jpeg\r\n\r\n" + jpeg + b"\r\n")
         except Exception as e:
             logger.error(f"视频流异常: {e}")
@@ -92,6 +100,7 @@ def arm_camera_restart():
     if _ffmpeg_proc:
         _ffmpeg_proc.terminate()
         _ffmpeg_proc = None
+    _ensure_ffmpeg()
     return jsonify({"ok": True})