feat: 新增ARP刷新函数，并且在每次clearData后执行一次刷新

server/src/Peripherals/CameraClient.cs

@@ -214,7 +214,7 @@ class Camera
     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}");
 
@@ -253,7 +253,7 @@ class Camera
     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);
@@ -280,6 +280,8 @@ class Camera
     /// <returns>配置结果</returns>
     public async ValueTask<Result<bool>> ConfigureRegisters(UInt16[][] registerTable, int? customDelayMs = null)
     {
+        MsgBus.UDPServer.ClearUDPData(this.address, this.taskID);
+
         var i2c = new Peripherals.I2cClient.I2c(this.address, this.port, this.taskID, this.timeout);
 
         foreach (var cmd in registerTable)
@@ -1302,20 +1304,20 @@ class Camera
                 logger.Error($"读取自动对焦初始化状态失败: {readResult.Error}");
                 return new(readResult.Error);
             }
-            
+
             logger.Trace($"自动对焦初始化状态检查, state=0x{readResult.Value:X2}");
-            
+
             if (readResult.Value == 0x70)
             {
                 break; // 初始化完成
             }
-            
+
             if (iteration == 1)
             {
                 logger.Error($"自动对焦初始化状态检查超时!! state=0x{readResult.Value:X2}");
                 return new(new Exception($"自动对焦初始化状态检查超时, state=0x{readResult.Value:X2}"));
             }
-            
+
             await Task.Delay(1);
         }
 

server/src/UdpServer.cs

@@ -484,6 +484,151 @@ public class UDPServer
             // 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);
         }
+
+        // 强制进行ARP刷新，防止后续传输时造成影响
+        FlushArpEntry(ipAddr);
+    }
+
+    /// <summary>
+    /// 跨平台ARP缓存刷新
+    /// </summary>
+    /// <param name="ipAddr">目标IP地址</param>
+    private void FlushArpEntry(string ipAddr)
+    {
+        try
+        {
+            // 验证IP地址格式
+            if (!IPAddress.TryParse(ipAddr, out var _))
+            {
+                logger.Warn($"Invalid IP address format: {ipAddr}");
+                return;
+            }
+
+            string command;
+            string arguments;
+
+            if (OperatingSystem.IsWindows())
+            {
+                // Windows: arp -d <ip>
+                command = "arp";
+                arguments = $"-d {ipAddr}";
+            }
+            else if (OperatingSystem.IsLinux() || OperatingSystem.IsMacOS())
+            {
+                // Linux/macOS: ip neigh del <ip> dev <interface> (优先使用 ip 命令)
+                // 如果 ip 命令不可用，则使用 arp -d <ip>
+                if (IsCommandAvailable("ip"))
+                {
+                    command = "ip";
+                    arguments = $"neigh flush {ipAddr}";
+                }
+                else if (IsCommandAvailable("arp"))
+                {
+                    command = "arp";
+                    arguments = $"-d {ipAddr}";
+                }
+                else
+                {
+                    logger.Warn("Neither 'ip' nor 'arp' command is available for ARP cache flush");
+                    return;
+                }
+            }
+            else
+            {
+                logger.Warn($"Unsupported operating system for ARP cache flush");
+                return;
+            }
+
+            // 异步执行命令，避免阻塞主线程
+            Task.Run(() => ExecuteArpCommand(command, arguments, ipAddr));
+        }
+        catch (Exception ex)
+        {
+            logger.Error($"Error during ARP cache flush for {ipAddr}: {ex.Message}");
+        }
+    }
+
+    /// <summary>
+    /// 检查系统命令是否可用
+    /// </summary>
+    /// <param name="command">命令名称</param>
+    /// <returns>命令是否可用</returns>
+    private bool IsCommandAvailable(string command)
+    {
+        try
+        {
+            var process = new System.Diagnostics.Process
+            {
+                StartInfo = new System.Diagnostics.ProcessStartInfo
+                {
+                    FileName = OperatingSystem.IsWindows() ? "where" : "which",
+                    Arguments = command,
+                    UseShellExecute = false,
+                    RedirectStandardOutput = true,
+                    CreateNoWindow = true
+                }
+            };
+
+            process.Start();
+            process.WaitForExit(1000); // 1秒超时
+            return process.ExitCode == 0;
+        }
+        catch
+        {
+            return false;
+        }
+    }
+
+    /// <summary>
+    /// 执行ARP命令
+    /// </summary>
+    /// <param name="command">命令</param>
+    /// <param name="arguments">参数</param>
+    /// <param name="ipAddr">IP地址</param>
+    private void ExecuteArpCommand(string command, string arguments, string ipAddr)
+    {
+        try
+        {
+            var process = new System.Diagnostics.Process
+            {
+                StartInfo = new System.Diagnostics.ProcessStartInfo
+                {
+                    FileName = command,
+                    Arguments = arguments,
+                    UseShellExecute = false,
+                    RedirectStandardOutput = true,
+                    RedirectStandardError = true,
+                    CreateNoWindow = true
+                }
+            };
+
+            process.Start();
+            
+            // 设置超时时间，避免进程挂起
+            if (process.WaitForExit(5000)) // 5秒超时
+            {
+                var output = process.StandardOutput.ReadToEnd();
+                var error = process.StandardError.ReadToEnd();
+
+                if (process.ExitCode == 0)
+                {
+                    logger.Debug($"ARP cache flush successful for {ipAddr}");
+                }
+                else
+                {
+                    logger.Warn($"ARP cache flush failed for {ipAddr}. Exit code: {process.ExitCode}, Error: {error}");
+                }
+            }
+            else
+            {
+                process.Kill();
+                logger.Warn($"ARP cache flush command timed out for {ipAddr}");
+            }
+        }
+        catch (Exception ex)
+        {
+            logger.Error($"Failed to execute ARP cache flush command for {ipAddr}: {ex.Message}");
+        }
     }
 
     /// <summary>