add: 添加前端对焦交互逻辑

server/src/Peripherals/CameraClient.cs

@@ -213,8 +213,7 @@ class Camera
     /// <returns>包含图像数据的字节数组</returns>
     public async ValueTask<Result<byte[]>> ReadFrame()
     {
-        // 只在第一次或出错时清除UDP缓冲区，避免每帧都清除造成延迟
-        // await MsgBus.UDPServer.ClearUDPData(this.address, this.taskID);
+        MsgBus.UDPServer.ClearUDPData(this.address, this.taskID);
 
         logger.Trace($"Reading frame from camera {this.address}");
 
@@ -303,7 +302,13 @@ class Camera
         return true;
     }
 
-    public async ValueTask<Result<byte>> ReadRegisters(UInt16 register)
+
+    /// <summary>
+    /// 读取I2C寄存器字节值
+    /// </summary>
+    /// <param name="register">要读取的寄存器地址 (16位)</param>
+    /// <returns>ret</returns>
+    public async ValueTask<Result<byte>> ReadRegister(UInt16 register)
     {
         var i2c = new Peripherals.I2cClient.I2c(this.address, this.port, this.taskID, this.timeout);
         
@@ -1218,18 +1223,22 @@ class Camera
     {
         logger.Info("开始写入OV5640自动对焦固件");
 
+        MsgBus.UDPServer.ClearUDPData(this.address, this.taskID);
         var setStartAddrResult = await ConfigureRegisters([[0x3000, 0x80]]);
         if (!setStartAddrResult.IsSuccessful) return setStartAddrResult;
 
+        // 组装固件写入命令：地址 + 所有固件数据
         UInt16 firmwareAddr = 0x8000;
-        var firmwareCommands = new List<UInt16[]>();
+        var firmwareCommand = new UInt16[1 + OV5640_AF_FIRMWARE.Length];
+        firmwareCommand[0] = firmwareAddr;
+        
+        // 将固件数据复制到命令数组中
         for (int i = 0; i < OV5640_AF_FIRMWARE.Length; i++)
         {
-            UInt16 addr = (UInt16)(firmwareAddr + i);
-            firmwareCommands.Add([addr, OV5640_AF_FIRMWARE[i]]);
+            firmwareCommand[i + 1] = OV5640_AF_FIRMWARE[i];
         }
 
-        var result = await ConfigureRegisters(firmwareCommands.ToArray());
+        var result = await ConfigureRegisters([firmwareCommand]);
         if (!result.IsSuccessful)
         {
             logger.Error($"固件写入失败: {result.Error}");
@@ -1324,7 +1333,7 @@ class Camera
         // 步骤2: 读取寄存器 0x3029 的状态，如果返回值为 0x10，代表对焦已完成
         for (int iteration = 5000; iteration > 0; iteration--)
         {
-            var readResult = await ReadRegisters(0x3029);
+            var readResult = await ReadRegister(0x3029);
             if (!readResult.IsSuccessful)
             {
                 logger.Error($"读取对焦状态寄存器(0x3029)失败: {readResult.Error}");