From 62292edc70322188357fa033a23a4aabc03c0cf3 Mon Sep 17 00:00:00 2001
From: ywb <347742090@qq.com>
Date: Sat, 13 Jun 2026 15:56:09 +0800
Subject: [PATCH] -

---
 agv_app/config.py           |  2 +-
 agv_app/utils/qr_scanner.py | 35 ++++++++++++++++++++++++++++-------
 2 files changed, 29 insertions(+), 8 deletions(-)

diff --git a/agv_app/config.py b/agv_app/config.py
index 20d6479..55593ad 100644
--- a/agv_app/config.py
+++ b/agv_app/config.py
@@ -35,7 +35,7 @@ MAP_CONFIG = {
 
 # ========== 摄像头 ==========
 CAMERA_CONFIG = {
-    "device_index": 3,       # AGV 摄像头 video3（Orbbec Gemini 彩色流，V4L2后端）
+    "device_index": 4,       # AGV 摄像头 video4（Orbbec Gemini 彩色流，YUYV 640x480）
     "backend": "v4l2",         # 使用 V4L2 后端获取标准彩色格式（640x480）
     "qr_detect_interval": 0.5,
     "capture_delay": 0.5,
diff --git a/agv_app/utils/qr_scanner.py b/agv_app/utils/qr_scanner.py
index d0c779c..41b17b9 100644
--- a/agv_app/utils/qr_scanner.py
+++ b/agv_app/utils/qr_scanner.py
@@ -74,7 +74,7 @@ class QRScanner:
         # 情况 2: 3 通道但实际帧数据显示为 YUYV（绿屏特征：G 通道全满，B/R 近空）
         if ndim == 3:
             g_mean = frame[:, :, 1].mean()
-            if g_mean > 220 and frame[:, :, 0].mean() < 30 and frame[:, :, 2].mean() < 30:
+            if g_mean > 80 and frame[:, :, 0].mean() < 30 and frame[:, :, 2].mean() < 30:
                 # 典型的"Lime"绿屏 — 当做 YUYV 原始数据解码
                 logger.debug(f"检测到绿屏 (G={g_mean:.0f}, B={frame[:,:,0].mean():.0f}, R={frame[:,:,2].mean():.0f})，尝试修复")
                 try:
@@ -85,7 +85,7 @@ class QRScanner:
                     # 我们只需要取前 w*h*2 字节作为 YUYV 数据
                     yuyv_len = w * h * 2
                     if len(raw_bytes) >= yuyv_len:
-                        yuyv_img = np.frombuffer(raw_bytes[:yuyv_len], dtype=np.uint8).reshape(h, w * 2, 1)
+                        yuyv_img = np.frombuffer(raw_bytes[:yuyv_len], dtype=np.uint8).reshape(h, w, 2)
                         frame = cv2.cvtColor(yuyv_img, cv2.COLOR_YUV2BGR_YUYV)
                         logger.debug("绿屏修复完成")
                         return frame
@@ -101,14 +101,35 @@ class QRScanner:
         # 正常 BGR 帧
         return frame
 
-    def read_frame(self) -> Optional[np.ndarray]:
-        """读取一帧"""
+    def read_frame(self, timeout: float = 2.0) -> Optional[np.ndarray]:
+        """读取一帧（带超时保护，避免 V4L2 select() 永久阻塞）"""
         if not self._cap or not self._cap.isOpened():
             return None
-        ret, frame = self._cap.read()
-        if not ret or frame is None:
+
+        from concurrent.futures import ThreadPoolExecutor, TimeoutError as FuturesTimeout
+
+        pool = ThreadPoolExecutor(max_workers=1)
+        try:
+            fut = pool.submit(self._cap.read)
+            ret, frame = fut.result(timeout=timeout)
+            if not ret or frame is None:
+                return None
+            return self._fix_frame(frame)
+        except FuturesTimeout:
+            logger.warning(f"摄像头 read_frame 超时 ({timeout}s)，尝试重建 _cap")
+            self.close()
+            self.open()
+            # 重建后重试一次
+            if self._cap and self._cap.isOpened():
+                ret, frame = self._cap.read()
+                if ret and frame is not None:
+                    return self._fix_frame(frame)
             return None
-        return self._fix_frame(frame)
+        except Exception as e:
+            logger.error(f"read_frame 异常: {e}")
+            return None
+        finally:
+            pool.shutdown(wait=False)
 
     def detect_qr(self, frame: np.ndarray) -> Optional[str]:
         """从图像帧中检测二维码"""