diff --git a/server/src/Peripherals/CameraClient.cs b/server/src/Peripherals/CameraClient.cs
index e207999..e4a7d5f 100644
--- a/server/src/Peripherals/CameraClient.cs
+++ b/server/src/Peripherals/CameraClient.cs
@@ -237,6 +237,33 @@ class Camera
         return result.Value;
     }
 
+    /// <summary>
+    /// 读取摄像头寄存器
+    /// </summary>
+    /// <param name="registerAddr">寄存器地址</param>
+    /// <returns>读取到的寄存器值</returns>
+    private async ValueTask<Result<byte>> ReadRegister(UInt16 registerAddr)
+    {
+        var i2c = new Peripherals.I2cClient.I2c(this.address, this.port, this.taskID, this.timeout);
+        
+        // 地址高低字节
+        var addrBytes = new byte[2];
+        addrBytes[0] = (byte)(registerAddr >> 8);
+        addrBytes[1] = (byte)(registerAddr & 0xFF);
+
+        // 先写寄存器地址
+        var writeResult = await i2c.WriteData(CAM_I2C_ADDR, addrBytes, CAM_PROTO);
+        if (!writeResult.IsSuccessful)
+            return new(writeResult.Error);
+
+        // 再读一个字节
+        var readResult = await i2c.ReadData(CAM_I2C_ADDR, 1, CAM_PROTO);
+        if (!readResult.IsSuccessful)
+            return new(readResult.Error);
+
+        return readResult.Value[0];
+    }
+
     /// <summary>
     /// 批量配置I2C寄存器
     /// </summary>
@@ -260,7 +287,7 @@ class Camera
             var address = cmd[0];
             i2cData[0] = (byte)(address >> 8);    // 地址高位
             i2cData[1] = (byte)(address & 0xFF);  // 地址低位
-            
+
             // 复制数据部分
             for (int i = 1; i < cmd.Length; i++)
             {
@@ -948,250 +975,250 @@ class Camera
     private static readonly UInt16[] OV5640_AF_FIRMWARE =
     [
         0x02, 0x0d, 0xf3, 0x02, 0x0a, 0x5f, 0xc2, 0x01, 0x22, 0x22, 0x00, 0x02, 0x0f, 0x31, 0x30, 0x01,
-        0x03, 0x02, 0x03, 0x09, 0x30, 0x02, 0x03, 0x02, 0x03, 0x09, 0x90, 0x51, 0xa5, 0xe0, 0x78, 0xbb, 
-        0xf6, 0xa3, 0xe0, 0x08, 0xf6, 0xa3, 0xe0, 0x08, 0xf6, 0xe5, 0x1f, 0x70, 0x45, 0x75, 0x1e, 0x20, 
-        0xd2, 0x34, 0x12, 0x0c, 0x0c, 0x78, 0x9c, 0x12, 0x0b, 0xd2, 0x78, 0xa8, 0xa6, 0x14, 0x08, 0xa6, 
-        0x15, 0x78, 0xb3, 0xa6, 0x09, 0x18, 0x76, 0x01, 0x78, 0x4c, 0xa6, 0x0a, 0x08, 0xa6, 0x0b, 0x78, 
-        0x6c, 0xa6, 0x14, 0x08, 0xa6, 0x15, 0x78, 0xb3, 0xe6, 0x78, 0x8c, 0xf6, 0x75, 0x1f, 0x01, 0x78, 
-        0xbb, 0xe6, 0x78, 0xb8, 0xf6, 0x78, 0xbc, 0xe6, 0x78, 0xb9, 0xf6, 0x78, 0xbd, 0xe6, 0x78, 0xba, 
-        0xf6, 0x22, 0x79, 0xb8, 0xe7, 0xd3, 0x78, 0xbb, 0x96, 0x40, 0x05, 0xe7, 0x96, 0xff, 0x80, 0x08, 
-        0xc3, 0x79, 0xbb, 0xe7, 0x78, 0xb8, 0x96, 0xff, 0x78, 0xa6, 0x76, 0x00, 0x08, 0xa6, 0x07, 0x79, 
-        0xb9, 0xe7, 0xd3, 0x78, 0xbc, 0x96, 0x40, 0x05, 0xe7, 0x96, 0xff, 0x80, 0x08, 0xc3, 0x79, 0xbc, 
-        0xe7, 0x78, 0xb9, 0x96, 0xff, 0x12, 0x0c, 0x13, 0x79, 0xba, 0xe7, 0xd3, 0x78, 0xbd, 0x96, 0x40, 
-        0x05, 0xe7, 0x96, 0xff, 0x80, 0x08, 0xc3, 0x79, 0xbd, 0xe7, 0x78, 0xba, 0x96, 0xff, 0x12, 0x0c, 
-        0x13, 0x78, 0xb2, 0xe6, 0x25, 0xe0, 0x24, 0x4c, 0xf8, 0xa6, 0x0a, 0x08, 0xa6, 0x0b, 0x78, 0xb2, 
-        0xe6, 0x25, 0xe0, 0x24, 0x6c, 0xf8, 0xa6, 0x14, 0x08, 0xa6, 0x15, 0x78, 0xb2, 0xe6, 0x24, 0x8c, 
-        0xf8, 0xa6, 0x09, 0x78, 0xb2, 0xe6, 0x24, 0x01, 0xff, 0xe4, 0x33, 0xfe, 0xd3, 0xef, 0x94, 0x0f, 
-        0xee, 0x64, 0x80, 0x94, 0x80, 0x40, 0x04, 0x7f, 0x00, 0x80, 0x05, 0x78, 0xb2, 0xe6, 0x04, 0xff, 
-        0x78, 0xb2, 0xa6, 0x07, 0xe5, 0x1f, 0xb4, 0x01, 0x0a, 0xe6, 0x60, 0x03, 0x02, 0x03, 0x09, 0x75, 
-        0x1f, 0x02, 0x22, 0x12, 0x0c, 0x0c, 0x78, 0x9e, 0x12, 0x0b, 0xd2, 0x12, 0x0c, 0x0c, 0x78, 0xa0, 
-        0x12, 0x0b, 0xff, 0x78, 0xaa, 0x12, 0x0b, 0xff, 0xff, 0x78, 0xac, 0xa6, 0x06, 0x08, 0xa6, 0x07, 
-        0x78, 0x8c, 0xe6, 0x78, 0xb4, 0xf6, 0x78, 0x8c, 0xe6, 0x78, 0xb5, 0xf6, 0x7f, 0x01, 0xef, 0x25, 
-        0xe0, 0x24, 0x4d, 0x78, 0x9f, 0x12, 0x0b, 0xc9, 0x50, 0x0a, 0x12, 0x0b, 0xab, 0x78, 0x9e, 0xa6, 
-        0x04, 0x08, 0xa6, 0x05, 0xef, 0x25, 0xe0, 0x24, 0x6d, 0x78, 0xab, 0x12, 0x0b, 0xc9, 0x50, 0x0f, 
-        0xef, 0x25, 0xe0, 0x24, 0x6c, 0x12, 0x0b, 0xb0, 0x78, 0xaa, 0xa6, 0x04, 0x08, 0xa6, 0x05, 0x74, 
-        0x8c, 0x2f, 0xf9, 0x78, 0xb4, 0xe6, 0xc3, 0x97, 0x50, 0x08, 0x74, 0x8c, 0x2f, 0xf8, 0xe6, 0x78, 
-        0xb4, 0xf6, 0xef, 0x25, 0xe0, 0x24, 0x4d, 0xf9, 0xd3, 0x78, 0xa1, 0x12, 0x0b, 0xcb, 0x40, 0x0a, 
-        0x12, 0x0b, 0xab, 0x78, 0xa0, 0xa6, 0x04, 0x08, 0xa6, 0x05, 0xef, 0x25, 0xe0, 0x24, 0x6d, 0xf9, 
-        0xd3, 0x78, 0xad, 0x12, 0x0b, 0xcb, 0x40, 0x0f, 0xef, 0x25, 0xe0, 0x24, 0x6c, 0x12, 0x0b, 0xb0, 
-        0x78, 0xac, 0xa6, 0x04, 0x08, 0xa6, 0x05, 0x74, 0x8c, 0x2f, 0xf9, 0x78, 0xb5, 0xe6, 0xd3, 0x97, 
-        0x40, 0x08, 0x74, 0x8c, 0x2f, 0xf8, 0xe6, 0x78, 0xb5, 0xf6, 0x0f, 0xef, 0x64, 0x10, 0x60, 0x03, 
-        0x02, 0x01, 0x3e, 0xc3, 0x79, 0x9f, 0x78, 0xa1, 0x12, 0x0b, 0xf7, 0x78, 0xa2, 0xf6, 0x08, 0xa6, 
-        0x07, 0xc3, 0x79, 0xab, 0x78, 0xad, 0x12, 0x0b, 0xf7, 0x78, 0xae, 0xf6, 0x08, 0xa6, 0x07, 0xc3, 
-        0x79, 0xb4, 0xe7, 0x78, 0xb5, 0x96, 0x08, 0xf6, 0xd3, 0x79, 0x9f, 0xe7, 0x78, 0x9d, 0x96, 0x19, 
-        0xe7, 0x18, 0x96, 0x40, 0x05, 0x09, 0xe7, 0x08, 0x80, 0x06, 0xc3, 0x79, 0x9d, 0xe7, 0x78, 0x9f, 
-        0x12, 0x0b, 0xf8, 0xfe, 0x78, 0xa4, 0xa6, 0x06, 0x08, 0xa6, 0x07, 0xd3, 0x79, 0xab, 0xe7, 0x78, 
-        0xa9, 0x96, 0x19, 0xe7, 0x18, 0x96, 0x40, 0x05, 0x09, 0xe7, 0x08, 0x80, 0x06, 0xc3, 0x79, 0xa9, 
-        0xe7, 0x78, 0xab, 0x12, 0x0b, 0xf8, 0xfe, 0x78, 0xb0, 0xa6, 0x06, 0x08, 0xa6, 0x07, 0x79, 0xb4, 
-        0xe7, 0xd3, 0x78, 0xb3, 0x96, 0x40, 0x05, 0xe7, 0x96, 0xff, 0x80, 0x08, 0xc3, 0x79, 0xb3, 0xe7, 
-        0x78, 0xb4, 0x96, 0xff, 0x78, 0xb7, 0xa6, 0x07, 0xe5, 0x1f, 0x64, 0x02, 0x60, 0x03, 0x02, 0x02, 
-        0xef, 0x90, 0x30, 0x24, 0x74, 0x0f, 0xf0, 0x90, 0x0e, 0x8a, 0xe4, 0x93, 0xff, 0x18, 0xe6, 0xc3, 
-        0x9f, 0x40, 0x03, 0x02, 0x03, 0x09, 0x90, 0x30, 0x24, 0x74, 0x0e, 0xf0, 0x78, 0xa2, 0x12, 0x0b, 
-        0xd9, 0x12, 0x0b, 0xa2, 0x90, 0x0e, 0x87, 0x12, 0x0b, 0xb7, 0x78, 0x9e, 0x12, 0x0b, 0xe8, 0x7b, 
-        0x04, 0x12, 0x0b, 0x90, 0xc3, 0x12, 0x07, 0x0e, 0x50, 0x6f, 0x90, 0x0e, 0x8b, 0xe4, 0x93, 0xff, 
-        0x78, 0xb7, 0xe6, 0x9f, 0x40, 0x07, 0x90, 0x30, 0x24, 0x74, 0x0a, 0x80, 0x16, 0x90, 0x0e, 0x89, 
-        0xe4, 0x93, 0xff, 0xd3, 0x78, 0xa7, 0xe6, 0x9f, 0x18, 0xe6, 0x94, 0x00, 0x40, 0x09, 0x90, 0x30, 
-        0x24, 0x74, 0x0b, 0xf0, 0x75, 0x1f, 0x05, 0x78, 0xae, 0x12, 0x0b, 0xd9, 0x12, 0x0b, 0xa2, 0x90, 
-        0x0e, 0x88, 0x12, 0x0b, 0xb7, 0x78, 0xa8, 0x12, 0x0b, 0xe8, 0x7b, 0x40, 0x12, 0x0b, 0x90, 0xd3, 
-        0x12, 0x07, 0x0e, 0x40, 0x24, 0x90, 0x30, 0x24, 0x74, 0x0c, 0xf0, 0x75, 0x1f, 0x05, 0x22, 0x90, 
-        0x30, 0x24, 0x74, 0x01, 0xf0, 0xe5, 0x1f, 0xb4, 0x05, 0x0f, 0xd2, 0x01, 0xc2, 0x02, 0xe4, 0xf5, 
-        0x1f, 0xf5, 0x1e, 0xd2, 0x34, 0xd2, 0x32, 0xd2, 0x35, 0x22, 0xe5, 0x1f, 0x60, 0x03, 0x02, 0x03, 
-        0x93, 0xf5, 0x1e, 0xd2, 0x34, 0x75, 0x34, 0xff, 0x75, 0x35, 0x0e, 0x75, 0x36, 0x55, 0x75, 0x37, 
-        0x01, 0x12, 0x0d, 0x85, 0xe4, 0xff, 0xef, 0x25, 0xe0, 0x24, 0x4c, 0xf8, 0xe4, 0xf6, 0x08, 0xf6, 
-        0x0f, 0xbf, 0x34, 0xf2, 0x90, 0x0e, 0x8c, 0xe4, 0x93, 0xff, 0xe5, 0x49, 0xc3, 0x9f, 0x50, 0x04, 
-        0x7f, 0x05, 0x80, 0x02, 0x7f, 0xfb, 0x78, 0xbb, 0xa6, 0x07, 0x12, 0x0e, 0xbc, 0x40, 0x04, 0x7f, 
-        0x03, 0x80, 0x02, 0x7f, 0x30, 0x78, 0xba, 0xa6, 0x07, 0xe6, 0x18, 0xf6, 0x08, 0xe6, 0x78, 0xb7, 
-        0xf6, 0x78, 0xba, 0xe6, 0x78, 0xb8, 0xf6, 0x78, 0xbd, 0x76, 0x33, 0xe4, 0x08, 0xf6, 0x78, 0xb6, 
-        0x76, 0x01, 0x75, 0x48, 0x02, 0x78, 0xb4, 0xf6, 0x08, 0xf6, 0x74, 0xff, 0x78, 0xbf, 0xf6, 0x08, 
-        0xf6, 0x75, 0x1f, 0x01, 0x78, 0xba, 0xe6, 0x75, 0xf0, 0x05, 0xa4, 0xf5, 0x49, 0x12, 0x0a, 0xfd, 
-        0xc2, 0x36, 0x22, 0x78, 0xb6, 0xe6, 0xd3, 0x94, 0x00, 0x40, 0x02, 0x16, 0x22, 0xe5, 0x1f, 0xb4, 
-        0x05, 0x23, 0xe4, 0xf5, 0x1f, 0xc2, 0x01, 0x78, 0xb4, 0xe6, 0xfe, 0x08, 0xe6, 0xff, 0x78, 0x4c, 
-        0xa6, 0x06, 0x08, 0xa6, 0x07, 0xa2, 0x36, 0xe4, 0x33, 0xf5, 0x3c, 0x90, 0x30, 0x28, 0xf0, 0x75, 
-        0x1e, 0x10, 0xd2, 0x34, 0x22, 0xe5, 0x49, 0x75, 0xf0, 0x05, 0x84, 0x78, 0xba, 0xf6, 0x90, 0x0e, 
-        0x85, 0xe4, 0x93, 0xff, 0x25, 0xe0, 0x24, 0x0a, 0xf8, 0xe6, 0xfc, 0x08, 0xe6, 0xfd, 0x78, 0xba, 
-        0xe6, 0x25, 0xe0, 0x24, 0x4c, 0xf8, 0xa6, 0x04, 0x08, 0xa6, 0x05, 0xef, 0x12, 0x0e, 0xc3, 0xd3, 
-        0x78, 0xb5, 0x96, 0xee, 0x18, 0x96, 0x40, 0x0d, 0x78, 0xba, 0xe6, 0x78, 0xb7, 0xf6, 0x78, 0xb4, 
-        0xa6, 0x06, 0x08, 0xa6, 0x07, 0x90, 0x0e, 0x85, 0xe4, 0x93, 0x12, 0x0e, 0xc3, 0xc3, 0x78, 0xc0, 
-        0x96, 0xee, 0x18, 0x96, 0x50, 0x0d, 0x78, 0xba, 0xe6, 0x78, 0xb8, 0xf6, 0x78, 0xbf, 0xa6, 0x06, 
-        0x08, 0xa6, 0x07, 0x78, 0xb4, 0xe6, 0xfe, 0x08, 0xe6, 0xc3, 0x78, 0xc0, 0x96, 0xff, 0xee, 0x18, 
-        0x96, 0x78, 0xc1, 0xf6, 0x08, 0xa6, 0x07, 0x90, 0x0e, 0x8e, 0xe4, 0x18, 0x12, 0x0e, 0xa1, 0x40, 
-        0x02, 0xd2, 0x36, 0x78, 0xba, 0xe6, 0x08, 0x26, 0x08, 0xf6, 0xe5, 0x1f, 0x64, 0x01, 0x70, 0x4a, 
-        0xe6, 0xc3, 0x78, 0xbe, 0x12, 0x0e, 0x97, 0x40, 0x05, 0x12, 0x0e, 0x92, 0x40, 0x39, 0x12, 0x0e, 
-        0xba, 0x40, 0x04, 0x7f, 0xfe, 0x80, 0x02, 0x7f, 0x02, 0x78, 0xbb, 0xa6, 0x07, 0x78, 0xb7, 0xe6, 
-        0x24, 0x03, 0x78, 0xbd, 0xf6, 0x78, 0xb7, 0xe6, 0x24, 0xfd, 0x78, 0xbe, 0xf6, 0x12, 0x0e, 0xba, 
-        0x40, 0x06, 0x78, 0xbe, 0xe6, 0xff, 0x80, 0x04, 0x78, 0xbd, 0xe6, 0xff, 0x78, 0xbc, 0xa6, 0x07, 
-        0x75, 0x1f, 0x02, 0x78, 0xb6, 0x76, 0x01, 0x02, 0x05, 0x59, 0xe5, 0x1f, 0x64, 0x02, 0x60, 0x03, 
-        0x02, 0x05, 0x39, 0x78, 0xbc, 0xe6, 0xff, 0xc3, 0x78, 0xbe, 0x12, 0x0e, 0x98, 0x40, 0x08, 0x12, 
-        0x0e, 0x92, 0x50, 0x03, 0x02, 0x05, 0x37, 0x12, 0x0e, 0xba, 0x40, 0x04, 0x7f, 0xff, 0x80, 0x02, 
-        0x7f, 0x01, 0x78, 0xbb, 0xa6, 0x07, 0x78, 0xb7, 0xe6, 0x04, 0x78, 0xbd, 0xf6, 0x78, 0xb7, 0xe6, 
-        0x14, 0x78, 0xbe, 0xf6, 0x18, 0x12, 0x0e, 0xbc, 0x40, 0x04, 0xe6, 0xff, 0x80, 0x02, 0x7f, 0x00, 
-        0x78, 0xbd, 0xa6, 0x07, 0xd3, 0x08, 0xe6, 0x64, 0x80, 0x94, 0x80, 0x40, 0x04, 0xe6, 0xff, 0x80, 
-        0x02, 0x7f, 0x00, 0x78, 0xbe, 0xa6, 0x07, 0xc3, 0x18, 0xe6, 0x64, 0x80, 0x94, 0xb3, 0x50, 0x04, 
-        0xe6, 0xff, 0x80, 0x02, 0x7f, 0x33, 0x78, 0xbd, 0xa6, 0x07, 0xc3, 0x08, 0xe6, 0x64, 0x80, 0x94, 
-        0xb3, 0x50, 0x04, 0xe6, 0xff, 0x80, 0x02, 0x7f, 0x33, 0x78, 0xbe, 0xa6, 0x07, 0x12, 0x0e, 0xba, 
-        0x40, 0x06, 0x78, 0xbe, 0xe6, 0xff, 0x80, 0x04, 0x78, 0xbd, 0xe6, 0xff, 0x78, 0xbc, 0xa6, 0x07, 
-        0x75, 0x1f, 0x03, 0x78, 0xb6, 0x76, 0x01, 0x80, 0x20, 0xe5, 0x1f, 0x64, 0x03, 0x70, 0x26, 0x78, 
-        0xbc, 0xe6, 0xff, 0xc3, 0x78, 0xbe, 0x12, 0x0e, 0x98, 0x40, 0x05, 0x12, 0x0e, 0x92, 0x40, 0x09, 
-        0x78, 0xb7, 0xe6, 0x78, 0xbc, 0xf6, 0x75, 0x1f, 0x04, 0x78, 0xbc, 0xe6, 0x75, 0xf0, 0x05, 0xa4, 
-        0xf5, 0x49, 0x02, 0x0a, 0xfd, 0xe5, 0x1f, 0xb4, 0x04, 0x1f, 0x90, 0x0e, 0x8d, 0xe4, 0x78, 0xc1, 
-        0x12, 0x0e, 0xa1, 0x40, 0x02, 0xd2, 0x36, 0x75, 0x1f, 0x05, 0x75, 0x34, 0xff, 0x75, 0x35, 0x0e, 
-        0x75, 0x36, 0x59, 0x75, 0x37, 0x01, 0x12, 0x0d, 0x85, 0x22, 0xef, 0x8d, 0xf0, 0xa4, 0xa8, 0xf0, 
-        0xcf, 0x8c, 0xf0, 0xa4, 0x28, 0xce, 0x8d, 0xf0, 0xa4, 0x2e, 0xfe, 0x22, 0xbc, 0x00, 0x0b, 0xbe, 
-        0x00, 0x29, 0xef, 0x8d, 0xf0, 0x84, 0xff, 0xad, 0xf0, 0x22, 0xe4, 0xcc, 0xf8, 0x75, 0xf0, 0x08, 
-        0xef, 0x2f, 0xff, 0xee, 0x33, 0xfe, 0xec, 0x33, 0xfc, 0xee, 0x9d, 0xec, 0x98, 0x40, 0x05, 0xfc, 
-        0xee, 0x9d, 0xfe, 0x0f, 0xd5, 0xf0, 0xe9, 0xe4, 0xce, 0xfd, 0x22, 0xed, 0xf8, 0xf5, 0xf0, 0xee, 
-        0x84, 0x20, 0xd2, 0x1c, 0xfe, 0xad, 0xf0, 0x75, 0xf0, 0x08, 0xef, 0x2f, 0xff, 0xed, 0x33, 0xfd, 
-        0x40, 0x07, 0x98, 0x50, 0x06, 0xd5, 0xf0, 0xf2, 0x22, 0xc3, 0x98, 0xfd, 0x0f, 0xd5, 0xf0, 0xea, 
-        0x22, 0xe8, 0x8f, 0xf0, 0xa4, 0xcc, 0x8b, 0xf0, 0xa4, 0x2c, 0xfc, 0xe9, 0x8e, 0xf0, 0xa4, 0x2c, 
-        0xfc, 0x8a, 0xf0, 0xed, 0xa4, 0x2c, 0xfc, 0xea, 0x8e, 0xf0, 0xa4, 0xcd, 0xa8, 0xf0, 0x8b, 0xf0, 
-        0xa4, 0x2d, 0xcc, 0x38, 0x25, 0xf0, 0xfd, 0xe9, 0x8f, 0xf0, 0xa4, 0x2c, 0xcd, 0x35, 0xf0, 0xfc, 
-        0xeb, 0x8e, 0xf0, 0xa4, 0xfe, 0xa9, 0xf0, 0xeb, 0x8f, 0xf0, 0xa4, 0xcf, 0xc5, 0xf0, 0x2e, 0xcd, 
-        0x39, 0xfe, 0xe4, 0x3c, 0xfc, 0xea, 0xa4, 0x2d, 0xce, 0x35, 0xf0, 0xfd, 0xe4, 0x3c, 0xfc, 0x22, 
-        0x75, 0xf0, 0x08, 0x75, 0x82, 0x00, 0xef, 0x2f, 0xff, 0xee, 0x33, 0xfe, 0xcd, 0x33, 0xcd, 0xcc, 
-        0x33, 0xcc, 0xc5, 0x82, 0x33, 0xc5, 0x82, 0x9b, 0xed, 0x9a, 0xec, 0x99, 0xe5, 0x82, 0x98, 0x40, 
-        0x0c, 0xf5, 0x82, 0xee, 0x9b, 0xfe, 0xed, 0x9a, 0xfd, 0xec, 0x99, 0xfc, 0x0f, 0xd5, 0xf0, 0xd6, 
-        0xe4, 0xce, 0xfb, 0xe4, 0xcd, 0xfa, 0xe4, 0xcc, 0xf9, 0xa8, 0x82, 0x22, 0xb8, 0x00, 0xc1, 0xb9, 
-        0x00, 0x59, 0xba, 0x00, 0x2d, 0xec, 0x8b, 0xf0, 0x84, 0xcf, 0xce, 0xcd, 0xfc, 0xe5, 0xf0, 0xcb, 
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+        0x33, 0x30, 0x0b, 0x09, 0xc2, 0x35, 0x12, 0x00, 0x0e, 0xc2, 0x0b, 0xd2, 0x35, 0x30, 0x09, 0x09,
+        0xc2, 0x35, 0x12, 0x03, 0x0a, 0xc2, 0x09, 0xd2, 0x35, 0x30, 0x0e, 0x03, 0x12, 0x07, 0x8d, 0x30,
+        0x34, 0xd3, 0x90, 0x30, 0x29, 0xe5, 0x1e, 0xf0, 0xb4, 0x10, 0x05, 0x90, 0x30, 0x23, 0xe4, 0xf0,
+        0xc2, 0x34, 0x80, 0xc1, 0xe4, 0xf5, 0x49, 0x90, 0x0e, 0x77, 0x93, 0xff, 0xe4, 0x8f, 0x37, 0xf5,
+        0x36, 0xf5, 0x35, 0xf5, 0x34, 0xaf, 0x37, 0xae, 0x36, 0xad, 0x35, 0xac, 0x34, 0x90, 0x0e, 0x6a,
+        0x12, 0x0f, 0x11, 0x8f, 0x37, 0x8e, 0x36, 0x8d, 0x35, 0x8c, 0x34, 0x90, 0x0e, 0x72, 0x12, 0x07,
+        0x32, 0xef, 0x45, 0x37, 0xf5, 0x37, 0xee, 0x45, 0x36, 0xf5, 0x36, 0xed, 0x45, 0x35, 0xf5, 0x35,
+        0xec, 0x45, 0x34, 0xf5, 0x34, 0xe4, 0xf5, 0x22, 0xf5, 0x23, 0x85, 0x37, 0x31, 0x85, 0x36, 0x30,
+        0x85, 0x35, 0x2f, 0x85, 0x34, 0x2e, 0x12, 0x0d, 0xc5, 0xe4, 0xf5, 0x22, 0xf5, 0x23, 0x90, 0x0e,
+        0x72, 0x12, 0x0f, 0x05, 0x12, 0x0d, 0xc5, 0xe4, 0xf5, 0x22, 0xf5, 0x23, 0x90, 0x0e, 0x6e, 0x12,
+        0x0f, 0x05, 0x02, 0x0d, 0xc5, 0xae, 0x35, 0xaf, 0x36, 0xe4, 0xfd, 0xed, 0xc3, 0x95, 0x37, 0x50,
+        0x33, 0x12, 0x0f, 0x52, 0xe4, 0x93, 0xf5, 0x38, 0x74, 0x01, 0x93, 0xf5, 0x39, 0x45, 0x38, 0x60,
+        0x23, 0x85, 0x39, 0x82, 0x85, 0x38, 0x83, 0xe0, 0xfc, 0x12, 0x0f, 0x52, 0x74, 0x03, 0x93, 0x52,
+        0x04, 0x12, 0x0f, 0x52, 0x74, 0x02, 0x93, 0x42, 0x04, 0x85, 0x39, 0x82, 0x85, 0x38, 0x83, 0xec,
+        0xf0, 0x0d, 0x80, 0xc7, 0x22, 0xa2, 0xaf, 0x92, 0x31, 0xc2, 0xaf, 0xe5, 0x23, 0x45, 0x22, 0x90,
+        0x0e, 0x5d, 0x60, 0x0b, 0x12, 0x0f, 0x47, 0xe0, 0xf5, 0x2c, 0xe0, 0xf5, 0x2d, 0x80, 0x0f, 0x12,
+        0x0f, 0x47, 0xe5, 0x30, 0xf0, 0x90, 0x0e, 0x5f, 0x12, 0x0f, 0x47, 0xe5, 0x31, 0xf0, 0xa2, 0x31,
+        0x92, 0xaf, 0x22, 0x78, 0x7f, 0xe4, 0xf6, 0xd8, 0xfd, 0x75, 0x81, 0xcb, 0x02, 0x0c, 0x9f, 0x00,
+        0x11, 0x05, 0x25, 0x16, 0x33, 0x02, 0x50, 0x72, 0x6f, 0x66, 0x69, 0x74, 0x20, 0x20, 0x14, 0x00,
+        0x10, 0x00, 0x56, 0x40, 0x1a, 0x30, 0x29, 0x7e, 0x00, 0x30, 0x04, 0x20, 0xdf, 0x30, 0x05, 0x40,
+        0xbf, 0x50, 0x03, 0x00, 0xfd, 0x50, 0x27, 0x01, 0xfe, 0x60, 0x00, 0x11, 0x00, 0x3f, 0x05, 0x30,
+        0x00, 0x3f, 0x06, 0x22, 0x00, 0x3f, 0x01, 0x2a, 0x00, 0x3f, 0x02, 0x00, 0x00, 0x36, 0x06, 0x07,
+        0x00, 0x3f, 0x0b, 0x0f, 0xf0, 0x00, 0x00, 0x00, 0x00, 0x30, 0x01, 0x40, 0xbf, 0x30, 0x01, 0x00,
+        0xbf, 0x30, 0x29, 0x70, 0x00, 0x3a, 0x00, 0x00, 0xff, 0x3a, 0x00, 0x00, 0xff, 0x36, 0x03, 0x36,
+        0x02, 0x41, 0x44, 0x58, 0x20, 0x18, 0x10, 0x0a, 0x04, 0x04, 0x00, 0x03, 0xff, 0x64, 0x00, 0x00,
+        0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x04, 0x06, 0x00, 0x03, 0x98, 0x00, 0xcc, 0x50,
+        0x3c, 0x28, 0x1e, 0x0c, 0x0c, 0x00, 0x00, 0x10, 0x0c, 0x10, 0x04, 0x0c, 0x6e, 0x06, 0x05, 0x00,
+        0xa5, 0x5a, 0x78, 0xbc, 0xe6, 0xd3, 0x08, 0xff, 0xe6, 0x64, 0x80, 0xf8, 0xef, 0x64, 0x80, 0x98,
+        0x22, 0x93, 0xff, 0x7e, 0x00, 0xe6, 0xfc, 0x08, 0xe6, 0xfd, 0x12, 0x05, 0x8a, 0x78, 0xbf, 0xe6,
+        0xfc, 0x08, 0xe6, 0xfd, 0xd3, 0xef, 0x9d, 0xee, 0x9c, 0x22, 0x78, 0xbb, 0xd3, 0xe6, 0x64, 0x80,
+        0x94, 0x80, 0x22, 0x25, 0xe0, 0x24, 0x0a, 0xf8, 0xe6, 0xfe, 0x08, 0xe6, 0xff, 0x22, 0xd2, 0x01,
+        0xc2, 0x02, 0xe4, 0xf5, 0x1f, 0xf5, 0x1e, 0xd2, 0x34, 0xd2, 0x32, 0xd2, 0x35, 0xd2, 0x01, 0xc2,
+        0x02, 0xf5, 0x1f, 0xf5, 0x1e, 0xd2, 0x34, 0xd2, 0x32, 0x22, 0x2d, 0xfd, 0xe4, 0x33, 0xfc, 0xe4,
+        0x93, 0xfe, 0xfb, 0xd3, 0xed, 0x9b, 0x74, 0x80, 0xf8, 0x6c, 0x98, 0x22, 0x8f, 0x3b, 0x8e, 0x3a,
+        0x8d, 0x39, 0x8c, 0x38, 0x22, 0x12, 0x07, 0x32, 0x8f, 0x31, 0x8e, 0x30, 0x8d, 0x2f, 0x8c, 0x2e,
+        0x22, 0x93, 0xf9, 0xf8, 0x02, 0x07, 0x1f, 0x90, 0x0e, 0x81, 0x12, 0x07, 0x32, 0x8f, 0x46, 0x8e,
+        0x45, 0x8d, 0x44, 0x8c, 0x43, 0xd2, 0x06, 0x30, 0x06, 0x03, 0xd3, 0x80, 0x01, 0xc3, 0x92, 0x0e,
+        0x22, 0xc0, 0xe0, 0xc0, 0x83, 0xc0, 0x82, 0x90, 0x3f, 0x0d, 0xe0, 0xf5, 0x33, 0xe5, 0x33, 0xf0,
+        0xd0, 0x82, 0xd0, 0x83, 0xd0, 0xe0, 0x32, 0xe4, 0x93, 0xfe, 0x74, 0x01, 0x93, 0xf5, 0x82, 0x8e,
         0x83, 0x22, 0x8f, 0x82, 0x8e, 0x83, 0x75, 0xf0, 0x04, 0xed, 0x02, 0x07, 0x5b
     ];
 
@@ -1213,7 +1240,7 @@ class Camera
             UInt16 addr = (UInt16)(firmwareAddr + i);
             firmwareCommands.Add([addr, OV5640_AF_FIRMWARE[i]]);
         }
-        
+
         var result = await ConfigureRegisters(firmwareCommands.ToArray());
         if (!result.IsSuccessful)
         {
@@ -1283,7 +1310,7 @@ 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
         int iteration = 5000;
         byte focusStatus = 0x00;
-        
+
         do
         {
             var readResult = await ReadRegister(0x3029);
@@ -1292,21 +1319,21 @@ class Camera
                 logger.Error($"读取对焦状态寄存器(0x3029)失败: {readResult.Error}");
                 return new(readResult.Error);
             }
-            
+
             focusStatus = readResult.Value;
-            
+
             if (focusStatus == 0x10)
             {
                 logger.Info("对焦已完成 (0x3029 = 0x10)");
                 break;
             }
-            
+
             if (iteration-- == 0)
             {
                 logger.Error($"自动对焦超时，状态: 0x{focusStatus:X2}");
                 return new(new Exception($"自动对焦超时，状态: 0x{focusStatus:X2}"));
             }
-            
+
             await Task.Delay(10);
         }
         while (focusStatus != 0x10);
diff --git a/server/src/UdpServer.cs b/server/src/UdpServer.cs
index 88eeac5..a1921b2 100644
--- a/server/src/UdpServer.cs
+++ b/server/src/UdpServer.cs
@@ -1,9 +1,9 @@
+using System.Collections.Concurrent;
 using System.Net;
 using System.Net.Sockets;
 using System.Runtime.CompilerServices;
 using System.Text;
 using DotNext;
-using DotNext.Threading;
 using Newtonsoft.Json;
 using WebProtocol;
 
@@ -72,9 +72,11 @@ public class UDPServer
 {
     private static NLog.Logger logger = NLog.LogManager.GetCurrentClassLogger();
 
-    private Dictionary<string, Queue<UDPData>> udpData = new Dictionary<string, Queue<UDPData>>();
+    private ConcurrentDictionary<string, ConcurrentQueue<UDPData>> udpData = new ConcurrentDictionary<string, ConcurrentQueue<UDPData>>();
 
-    private Semaphore taskPool = new Semaphore(3, 3);
+    const int parallelTaskNum = 5;
+    Task[] ReceiveTasks = new Task[parallelTaskNum];
+    private int runningTaskNum = 0;
 
     private int listenPort;
     private UdpClient listener;
@@ -145,28 +147,19 @@ public class UDPServer
     {
         UDPData? data = null;
 
-        // logger.Debug($"Caller \"{callerName}|{callerLineNum}\": Try to find {ipAddr}-{taskID} UDP Data");
-
         var startTime = DateTime.Now;
         var isTimeout = false;
-        var timeleft = TimeSpan.FromMilliseconds(timeout);
         while (!isTimeout)
         {
             var elapsed = DateTime.Now - startTime;
             isTimeout = elapsed >= TimeSpan.FromMilliseconds(timeout);
             if (isTimeout) break;
 
-            timeleft = TimeSpan.FromMilliseconds(timeout) - elapsed;
-            using (await udpData.AcquireWriteLockAsync(timeleft))
+            if (udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue) &&
+                dataQueue.TryDequeue(out data))
             {
-                if (udpData.ContainsKey($"{ipAddr}-{taskID}") &&
-                    udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue) &&
-                    dataQueue.Count > 0)
-                {
-                    data = dataQueue.Dequeue();
-                    // logger.Debug($"Find UDP Data: {data.ToString()}");
-                    break;
-                }
+                // logger.Debug($"Find UDP Data: {data.ToString()}");
+                break;
             }
 
             await Task.Delay(cycle);
@@ -196,24 +189,21 @@ public class UDPServer
 
         var startTime = DateTime.Now;
         var isTimeout = false;
-        var timeleft = TimeSpan.FromMilliseconds(timeout);
         while (!isTimeout)
         {
             var elapsed = DateTime.Now - startTime;
             isTimeout = elapsed >= TimeSpan.FromMilliseconds(timeout);
             if (isTimeout) break;
 
-            timeleft = TimeSpan.FromMilliseconds(timeout) - elapsed;
-            using (await udpData.AcquireWriteLockAsync(timeleft))
+            if (udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue) &&
+                !dataQueue.IsEmpty)
             {
-                if (udpData.ContainsKey($"{ipAddr}-{taskID}") &&
-                    udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue) &&
-                    dataQueue.Count > 0)
+                data = new List<UDPData>();
+                while (dataQueue.TryDequeue(out var item))
                 {
-                    data = dataQueue.ToList();
-                    dataQueue.Clear();
-                    break;
+                    data.Add(item);
                 }
+                break;
             }
         }
 
@@ -241,24 +231,18 @@ public class UDPServer
 
         var startTime = DateTime.Now;
         var isTimeout = false;
-        var timeleft = TimeSpan.FromMilliseconds(timeout);
         while (!isTimeout)
         {
             var elapsed = DateTime.Now - startTime;
             isTimeout = elapsed >= TimeSpan.FromMilliseconds(timeout);
             if (isTimeout) break;
 
-            timeleft = TimeSpan.FromMilliseconds(timeout) - elapsed;
-            using (await udpData.AcquireReadLockAsync(timeleft))
+            if (udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue) &&
+                !dataQueue.IsEmpty)
             {
-                if (udpData.ContainsKey($"{ipAddr}-{taskID}") &&
-                    udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue) &&
-                    dataQueue.Count > 0)
-                {
-                    data = dataQueue.ToList();
-                    // logger.Debug($"Find UDP Data Array: {JsonConvert.SerializeObject(data)}");
-                    break;
-                }
+                data = dataQueue.ToArray().ToList();
+                // logger.Debug($"Find UDP Data Array: {JsonConvert.SerializeObject(data)}");
+                break;
             }
         }
 
@@ -286,22 +270,16 @@ public class UDPServer
 
         var startTime = DateTime.Now;
         var isTimeout = false;
-        var timeleft = TimeSpan.FromMilliseconds(timeout);
         while (!isTimeout)
         {
             var elapsed = DateTime.Now - startTime;
             isTimeout = elapsed >= TimeSpan.FromMilliseconds(timeout);
             if (isTimeout) break;
 
-            timeleft = TimeSpan.FromMilliseconds(timeout) - elapsed;
-            using (await udpData.AcquireReadLockAsync(timeleft))
+            if (udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue))
             {
-                if (udpData.ContainsKey($"{ipAddr}-{taskID}") &&
-                    udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue))
-                {
-                    count = dataQueue.Count;
-                    break;
-                }
+                count = dataQueue.Count;
+                break;
             }
         }
 
@@ -367,17 +345,21 @@ public class UDPServer
 
         return retPack.Value;
     }
-    static int ReceiveHandleCcount = 0;
 
     private void ReceiveHandler(IAsyncResult res)
     {
         var remoteEP = new IPEndPoint(IPAddress.Any, listenPort);
         byte[] bytes = listener.EndReceive(res, ref remoteEP);
 
-        // 提前开始接收下一个包
-        listener.BeginReceive(new AsyncCallback(ReceiveHandler), null);
-        logger.Debug($"Test ReceiveHandler Count = {ReceiveHandleCcount}");
-        ReceiveHandleCcount++;
+        // 继续异步接收
+        if (isRunning)
+        {
+            listener.BeginReceive(new AsyncCallback(ReceiveHandler), null);
+        }
+        else
+        {
+            runningTaskNum--;
+        }
 
         // Handle RemoteEP
         if (remoteEP is null)
@@ -426,23 +408,11 @@ public class UDPServer
             HasRead = false,
         };
 
-        using (udpData.AcquireWriteLock())
-        {
-            // Record UDP Receive Data
-            if (udpData.ContainsKey($"{remoteAddress}-{taskID}") &&
-                udpData.TryGetValue($"{remoteAddress}-{taskID}", out var dataQueue))
-            {
-                dataQueue.Enqueue(data);
-                logger.Debug($"Test Lock dataQueue.Count = {dataQueue.Count}");
-            }
-            else
-            {
-                var queue = new Queue<UDPData>();
-                queue.Enqueue(data);
-                udpData.Add($"{remoteAddress}-{taskID}", queue);
-                logger.Trace("Receive data from new client");
-            }
-        }
+        var key = $"{remoteAddress}-{taskID}";
+        var dataQueue = udpData.GetOrAdd(key, _ => new ConcurrentQueue<UDPData>());
+        dataQueue.Enqueue(data);
+
+        logger.Debug($"Test dataQueue.Count = {dataQueue.Count}");
 
         return data;
     }
@@ -497,16 +467,13 @@ public class UDPServer
     /// <returns> void </returns>
     public void PrintAllData()
     {
-        using (udpData.AcquireReadLock())
-        {
-            // logger.Debug("Ready Data:");
+        logger.Debug("Ready Data:");
 
-            foreach (var ip in udpData)
+        foreach (var kvp in udpData)
+        {
+            foreach (var data in kvp.Value)
             {
-                foreach (var data in ip.Value)
-                {
-                    // logger.Debug(data.ToString());
-                }
+                logger.Debug(data.ToString());
             }
         }
     }
@@ -519,35 +486,58 @@ public class UDPServer
     /// <returns>无</returns>
     public async Task ClearUDPData(string ipAddr, int taskID)
     {
-        using (await udpData.AcquireWriteLockAsync())
+        var key = $"{ipAddr}-{taskID}";
+        if (udpData.TryGetValue(key, out var dataQueue))
         {
-            if (udpData.ContainsKey($"{ipAddr}-{taskID}") &&
-                udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue) &&
-                dataQueue.Count > 0)
-            {
-                dataQueue.Clear();
-            }
+            // 清空队列的最有效方式是替换为新的队列
+            udpData.TryUpdate(key, new ConcurrentQueue<UDPData>(), dataQueue);
         }
     }
 
-
     /// <summary>
     /// Start UDP Server
     /// </summary>
     /// <returns>None</returns>
     public void Start()
     {
+        this.isRunning = true;
         try
         {
-            this.listener.BeginReceive(new AsyncCallback(ReceiveHandler), null);
+            Task.Run(() =>
+            {
+                while (isRunning)
+                {
+                    if (runningTaskNum < parallelTaskNum)
+                    {
+                        StartReceive();
+                        logger.Debug($"Begin Receive Task, Now Running Num: {runningTaskNum + 1}");
+                        runningTaskNum++;
+                    }
+                    Task.Delay(100).Wait();
+                }
+            });
         }
         catch (Exception e)
         {
             Console.WriteLine(e.ToString());
+            this.isRunning = false;
         }
-        finally
+    }
+
+    private void StartReceive(int times = 5)
+    {
+
+        for (int i = 0; i < times; i++)
         {
-            this.isRunning = true;
+            try
+            {
+                this.listener.BeginReceive(new AsyncCallback(ReceiveHandler), null);
+                break; // BeginReceive is async, break after scheduling
+            }
+            catch (Exception ex)
+            {
+                Console.WriteLine(ex.ToString());
+            }
         }
     }