add: 添加自动对焦逻辑（还没写完）

2025-07-14 10:48:13 +08:00
parent 1273be7dee
commit 9b580be5e9
3 changed files with 762 additions and 202 deletions
--- a/server/src/Controllers/VideoStreamController.cs
+++ b/server/src/Controllers/VideoStreamController.cs
@@ -365,4 +365,86 @@ public class VideoStreamController : ControllerBase
            return TypedResults.InternalServerError($"获取支持的分辨率列表失败: {ex.Message}");
        }
    }
+
+    /// <summary>
+    /// 初始化摄像头自动对焦功能
+    /// </summary>
+    /// <returns>初始化结果</returns>
+    [HttpPost("InitAutoFocus")]
+    public async Task<IResult> InitAutoFocus()
+    {
+        try
+        {
+            logger.Info("收到初始化自动对焦请求");
+
+            var result = await _videoStreamService.InitAutoFocusAsync();
+            
+            if (result)
+            {
+                logger.Info("自动对焦初始化成功");
+                return TypedResults.Ok(new
+                {
+                    success = true,
+                    message = "自动对焦初始化成功",
+                    timestamp = DateTime.Now
+                });
+            }
+            else
+            {
+                logger.Warn("自动对焦初始化失败");
+                return TypedResults.BadRequest(new
+                {
+                    success = false,
+                    message = "自动对焦初始化失败",
+                    timestamp = DateTime.Now
+                });
+            }
+        }
+        catch (Exception ex)
+        {
+            logger.Error(ex, "初始化自动对焦时发生异常");
+            return TypedResults.InternalServerError($"初始化自动对焦失败: {ex.Message}");
+        }
+    }
+
+    /// <summary>
+    /// 执行自动对焦
+    /// </summary>
+    /// <returns>对焦结果</returns>
+    [HttpPost("AutoFocus")]
+    public async Task<IResult> AutoFocus()
+    {
+        try
+        {
+            logger.Info("收到执行自动对焦请求");
+
+            var result = await _videoStreamService.PerformAutoFocusAsync();
+            
+            if (result)
+            {
+                logger.Info("自动对焦执行成功");
+                return TypedResults.Ok(new
+                {
+                    success = true,
+                    message = "自动对焦执行成功",
+                    timestamp = DateTime.Now
+                });
+            }
+            else
+            {
+                logger.Warn("自动对焦执行失败");
+                return TypedResults.BadRequest(new
+                {
+                    success = false,
+                    message = "自动对焦执行失败",
+                    timestamp = DateTime.Now
+                });
+            }
+        }
+        catch (Exception ex)
+        {
+            logger.Error(ex, "执行自动对焦时发生异常");
+            return TypedResults.InternalServerError($"执行自动对焦失败: {ex.Message}");
+        }
+    }
 }
--- a/server/src/Peripherals/CameraClient.cs
+++ b/server/src/Peripherals/CameraClient.cs
@@ -196,19 +196,6 @@ class Camera
            }
        }
        await Task.Delay(5);
-        {
-            var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, CameraAddr.CAMERA_POWER, 0x00000101);
-            if (!ret.IsSuccessful)
-            {
-                logger.Error($"Failed to write STORE_ADDR: {ret.Error}");
-                return new(ret.Error);
-            }
-            if (!ret.Value)
-            {
-                logger.Error("STORE_ADDR write returned false");
-                return new(new Exception("STORE_ADDR write returned false"));
-            }
-        }
        return true;
    }

@@ -253,32 +240,44 @@ class Camera
    /// <summary>
    /// 批量配置I2C寄存器
    /// </summary>
-    /// <param name="registerTable">寄存器配置表，每个元素包含3个字节：[地址高位, 地址低位, 数据]</param>
+    /// <param name="registerTable">寄存器配置表，每个元素格式为：[16位寄存器地址, 数据1, 数据2, ...]</param>
    /// <param name="customDelayMs">自定义延时时间（毫秒），如果为null则使用默认延时逻辑</param>
    /// <returns>配置结果</returns>
-    public async ValueTask<Result<bool>> ConfigureRegisters(byte[][] registerTable, int? customDelayMs = null)
+    public async ValueTask<Result<bool>> ConfigureRegisters(UInt16[][] registerTable, int? customDelayMs = null)
    {
        var i2c = new Peripherals.I2cClient.I2c(this.address, this.port, this.taskID, this.timeout);

        foreach (var cmd in registerTable)
        {
-            if (cmd.Length != 3)
+            if (cmd.Length < 2)
            {
-                logger.Error($"Invalid register command length: {cmd.Length}, expected 3 bytes");
-                return new(new ArgumentException($"Invalid register command length: {cmd.Length}, expected 3 bytes"));
+                logger.Error($"Invalid register command length: {cmd.Length}, expected at least 2 elements (address + data)");
+                return new(new ArgumentException($"Invalid register command length: {cmd.Length}, expected at least 2 elements"));
            }

-            var ret = await i2c.WriteData(CAM_I2C_ADDR, cmd, CAM_PROTO);
+            // 将16位地址和数据转换为字节数组
+            var i2cData = new byte[cmd.Length + 1]; // +1 because address becomes 2 bytes
+            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++)
+            {
+                i2cData[i + 1] = (byte)cmd[i];
+            }
+
+            var ret = await i2c.WriteData(CAM_I2C_ADDR, i2cData, CAM_PROTO);

            if (!ret.IsSuccessful)
            {
-                logger.Error($"I2C write 0x{CAM_I2C_ADDR.ToString("X")} failed: {BitConverter.ToString(cmd)} error: {ret.Error}");
+                logger.Error($"I2C write 0x{CAM_I2C_ADDR.ToString("X")} failed: Address=0x{address:X4}, Data={string.Join(",", cmd.Skip(1).Select(x => $"0x{x:X2}"))} error: {ret.Error}");
                return new(ret.Error);
            }

            if (!ret.Value)
            {
-                logger.Error($"I2C write 0x{CAM_I2C_ADDR.ToString("X")} returned false: {BitConverter.ToString(cmd)}");
+                logger.Error($"I2C write 0x{CAM_I2C_ADDR.ToString("X")} returned false: Address=0x{address:X4}, Data={string.Join(",", cmd.Skip(1).Select(x => $"0x{x:X2}"))}");
                return false;
            }

@@ -290,7 +289,7 @@ class Camera
            else
            {
                // 使用默认延时逻辑
-                if (cmd[0] == 0x30 && cmd[1] == 0x08 && cmd[2] == 0x82)
+                if (address == 0x3008 && cmd.Length >= 2 && cmd[1] == 0x82)
                {
                    // 复位命令，等待5MS
                    await Task.Delay(5);
@@ -376,39 +375,39 @@ class Camera
        }

        // 2. 配置I2C寄存器
-        var resolutionRegisters = new byte[][]
+        var resolutionRegisters = new UInt16[][]
        {
            // H_OFFSET/V_OFFSET
-            new byte[] { 0x38, 0x10, unchecked((byte)((hOffset >> 8) & 0xFF)) },
-            new byte[] { 0x38, 0x11, unchecked((byte)(hOffset & 0xFF)) },
-            new byte[] { 0x38, 0x12, unchecked((byte)((vOffset >> 8) & 0xFF)) },
+            [0x3810, unchecked((byte)((hOffset >> 8) & 0xFF))],
+            [0x3811, unchecked((byte)(hOffset & 0xFF))],
+            [0x3812, unchecked((byte)((vOffset >> 8) & 0xFF))],
            
            // H_START/V_START
-            new byte[] { 0x38, 0x00, unchecked((byte)((hStart >> 8) & 0xFF)) },
-            new byte[] { 0x38, 0x01, unchecked((byte)(hStart & 0xFF)) },
-            new byte[] { 0x38, 0x02, unchecked((byte)((vStart >> 8) & 0xFF)) },
-            new byte[] { 0x38, 0x03, unchecked((byte)(vStart & 0xFF)) },
+            [0x3800, unchecked((byte)((hStart >> 8) & 0xFF))],
+            [0x3801, unchecked((byte)(hStart & 0xFF))],
+            [0x3802, unchecked((byte)((vStart >> 8) & 0xFF))],
+            [0x3803, unchecked((byte)(vStart & 0xFF))],
            
            // H_END/V_END
-            new byte[] { 0x38, 0x04, unchecked((byte)((hEnd >> 8) & 0xFF)) },
-            new byte[] { 0x38, 0x05, unchecked((byte)(hEnd & 0xFF)) },
-            new byte[] { 0x38, 0x06, unchecked((byte)((vEnd >> 8) & 0xFF)) },
-            new byte[] { 0x38, 0x07, unchecked((byte)(vEnd & 0xFF)) },
+            [0x3804, unchecked((byte)((hEnd >> 8) & 0xFF))],
+            [0x3805, unchecked((byte)(hEnd & 0xFF))],
+            [0x3806, unchecked((byte)((vEnd >> 8) & 0xFF))],
+            [0x3807, unchecked((byte)(vEnd & 0xFF))],
            
            // 输出像素个数
-            new byte[] { 0x38, 0x08, unchecked((byte)((dvpHo >> 8) & 0xFF)) },
-            new byte[] { 0x38, 0x09, unchecked((byte)(dvpHo & 0xFF)) },
-            new byte[] { 0x38, 0x0A, unchecked((byte)((dvpVo >> 8) & 0xFF)) },
-            new byte[] { 0x38, 0x0B, unchecked((byte)(dvpVo & 0xFF)) },
+            [0x3808, unchecked((byte)((dvpHo >> 8) & 0xFF))],
+            [0x3809, unchecked((byte)(dvpHo & 0xFF))],
+            [0x380A, unchecked((byte)((dvpVo >> 8) & 0xFF))],
+            [0x380B, unchecked((byte)(dvpVo & 0xFF))],
            
            // 总像素
-            new byte[] { 0x38, 0x0C, unchecked((byte)((hts >> 8) & 0xFF)) },
-            new byte[] { 0x38, 0x0D, unchecked((byte)(hts & 0xFF)) },
-            new byte[] { 0x38, 0x0E, unchecked((byte)((vts >> 8) & 0xFF)) },
-            new byte[] { 0x38, 0x0F, unchecked((byte)(vts & 0xFF)) },
+            [0x380C, unchecked((byte)((hts >> 8) & 0xFF))],
+            [0x380D, unchecked((byte)(hts & 0xFF))],
+            [0x380E, unchecked((byte)((vts >> 8) & 0xFF))],
+            [0x380F, unchecked((byte)(vts & 0xFF))],
            
            // Timing Voffset
-            new byte[] { 0x38, 0x13, unchecked((byte)(vOffset & 0xFF)) }
+            [0x3813, unchecked((byte)(vOffset & 0xFF))]
        };

        var configResult = await ConfigureRegisters(resolutionRegisters, customDelayMs: 1);
@@ -533,9 +532,9 @@ class Camera
    /// <returns>配置结果</returns>
    public async ValueTask<Result<bool>> Reset()
    {
-        var resetRegisters = new byte[][]
+        var resetRegisters = new UInt16[][]
        {
-            new byte[] { 0x30, 0x08, 0x82 } // 复位命令
+            [0x30, 0x08, 0x82] // 复位命令
        };

        return await ConfigureRegisters(resetRegisters, customDelayMs: 5); // 复位后等待5ms
@@ -547,9 +546,9 @@ class Camera
    /// <returns>配置结果</returns>
    public async ValueTask<Result<bool>> Sleep()
    {
-        var sleepRegisters = new byte[][]
+        var sleepRegisters = new UInt16[][]
        {
-            new byte[] { 0x30, 0x08, 0x42 } // 休眠命令
+            [0x3008, 0x42] // 休眠命令
        };

        return await ConfigureRegisters(sleepRegisters);
@@ -561,13 +560,13 @@ class Camera
    /// <returns>配置结果</returns>
    public async ValueTask<Result<bool>> ConfigureBasicRegisters()
    {
-        var basicRegisters = new byte[][]
+        var basicRegisters = new UInt16[][]
        {
-            new byte[] { 0x31, 0x03, 0x02 },
-            new byte[] { 0x30, 0x17, 0xff },
-            new byte[] { 0x30, 0x18, 0xff },
-            new byte[] { 0x30, 0x37, 0x13 },
-            new byte[] { 0x31, 0x08, 0x01 }
+            [0x3103, 0x02],
+            [0x3017, 0xff],
+            [0x3018, 0xff],
+            [0x3037, 0x13],
+            [0x3108, 0x01]
        };

        return await ConfigureRegisters(basicRegisters);
@@ -579,13 +578,13 @@ class Camera
    /// <returns>配置结果</returns>
    public async ValueTask<Result<bool>> ConfigureSensorControl()
    {
-        var sensorRegisters = new byte[][]
+        var sensorRegisters = new UInt16[][]
        {
-            new byte[] { 0x36, 0x30, 0x36 },
-            new byte[] { 0x36, 0x31, 0x0e },
-            new byte[] { 0x36, 0x32, 0xe2 },
-            new byte[] { 0x36, 0x33, 0x12 },
-            new byte[] { 0x36, 0x21, 0xe0 }
+            [0x3630, 0x36],
+            [0x3631, 0x0e],
+            [0x3632, 0xe2],
+            [0x3633, 0x12],
+            [0x3621, 0xe0]
        };

        return await ConfigureRegisters(sensorRegisters);
@@ -597,14 +596,14 @@ class Camera
    /// <returns>配置结果</returns>
    public async ValueTask<Result<bool>> ConfigureAnalogControl()
    {
-        var analogRegisters = new byte[][]
+        var analogRegisters = new UInt16[][]
        {
-            new byte[] { 0x37, 0x04, 0xa0 },
-            new byte[] { 0x37, 0x03, 0x5a },
-            new byte[] { 0x37, 0x15, 0x78 },
-            new byte[] { 0x37, 0x17, 0x01 },
-            new byte[] { 0x37, 0x0b, 0x60 },
-            new byte[] { 0x37, 0x05, 0x1a }
+            [0x3704, 0xa0],
+            [0x3703, 0x5a],
+            [0x3715, 0x78],
+            [0x3717, 0x01],
+            [0x370b, 0x60],
+            [0x3705, 0x1a]
        };

        return await ConfigureRegisters(analogRegisters);
@@ -616,13 +615,13 @@ class Camera
    /// <returns>配置结果</returns>
    public async ValueTask<Result<bool>> ConfigureClockControl()
    {
-        var clockRegisters = new byte[][]
+        var clockRegisters = new UInt16[][]
        {
-            new byte[] { 0x39, 0x05, 0x02 },
-            new byte[] { 0x39, 0x06, 0x10 },
-            new byte[] { 0x39, 0x01, 0x0a },
-            new byte[] { 0x30, 0x35, 0x11 }, // 30fps
-            new byte[] { 0x30, 0x36, PLL_MUX } // PLL倍频
+            [0x3905, 0x02],
+            [0x3906, 0x10],
+            [0x3901, 0x0a],
+            [0x3035, 0x11], // 30fps
+            [0x3036, PLL_MUX] // PLL倍频
        };

        return await ConfigureRegisters(clockRegisters);
@@ -634,15 +633,15 @@ class Camera
    /// <returns>配置结果</returns>
    public async ValueTask<Result<bool>> ConfigurePSRAMControl()
    {
-        var psramRegisters = new byte[][]
+        var psramRegisters = new UInt16[][]
        {
-            new byte[] { 0x37, 0x31, 0x12 },
-            new byte[] { 0x36, 0x00, 0x08 },
-            new byte[] { 0x36, 0x01, 0x33 },
-            new byte[] { 0x30, 0x2d, 0x60 },
-            new byte[] { 0x36, 0x20, 0x52 },
-            new byte[] { 0x37, 0x1b, 0x20 },
-            new byte[] { 0x47, 0x1c, 0x50 }
+            [0x3731, 0x12],
+            [0x3600, 0x08],
+            [0x3601, 0x33],
+            [0x302d, 0x60],
+            [0x3620, 0x52],
+            [0x371b, 0x20],
+            [0x471c, 0x50]
        };

        return await ConfigureRegisters(psramRegisters);
@@ -654,15 +653,15 @@ class Camera
    /// <returns>配置结果</returns>
    public async ValueTask<Result<bool>> ConfigureDVPTiming()
    {
-        var dvpRegisters = new byte[][]
+        var dvpRegisters = new UInt16[][]
        {
-            new byte[] { 0x3a, 0x13, 0x43 },
-            new byte[] { 0x3a, 0x18, 0x00 },
-            new byte[] { 0x3a, 0x19, 0xf8 },
-            new byte[] { 0x36, 0x35, 0x13 },
-            new byte[] { 0x36, 0x36, 0x03 },
-            new byte[] { 0x36, 0x34, 0x40 },
-            new byte[] { 0x36, 0x22, 0x01 }
+            [0x3a13, 0x43],
+            [0x3a18, 0x00],
+            [0x3a19, 0xf8],
+            [0x3635, 0x13],
+            [0x3636, 0x03],
+            [0x3634, 0x40],
+            [0x3622, 0x01]
        };

        return await ConfigureRegisters(dvpRegisters);
@@ -674,18 +673,18 @@ class Camera
    /// <returns>配置结果</returns>
    public async ValueTask<Result<bool>> ConfigureBaseControl()
    {
-        var baseRegisters = new byte[][]
+        var baseRegisters = new UInt16[][]
        {
-            new byte[] { 0x3c, 0x01, 0x34 },
-            new byte[] { 0x3c, 0x04, 0x28 },
-            new byte[] { 0x3c, 0x05, 0x98 },
-            new byte[] { 0x3c, 0x06, 0x00 },
-            new byte[] { 0x3c, 0x07, 0x08 },
-            new byte[] { 0x3c, 0x08, 0x00 },
-            new byte[] { 0x3c, 0x09, 0x1c },
-            new byte[] { 0x3c, 0x0a, 0x9c },
-            new byte[] { 0x3c, 0x0b, 0x40 },
-            new byte[] { 0x37, 0x08, 0x64 }
+            [0x3c01, 0x34],
+            [0x3c04, 0x28],
+            [0x3c05, 0x98],
+            [0x3c06, 0x00],
+            [0x3c07, 0x08],
+            [0x3c08, 0x00],
+            [0x3c09, 0x1c],
+            [0x3c0a, 0x9c],
+            [0x3c0b, 0x40],
+            [0x3708, 0x64]
        };

        return await ConfigureRegisters(baseRegisters);
@@ -697,15 +696,15 @@ class Camera
    /// <returns>配置结果</returns>
    public async ValueTask<Result<bool>> ConfigureImageFormat()
    {
-        var formatRegisters = new byte[][]
+        var formatRegisters = new UInt16[][]
        {
-            new byte[] { 0x40, 0x01, 0x02 },
-            new byte[] { 0x40, 0x05, 0x1a },
-            new byte[] { 0x30, 0x00, 0x00 },
-            new byte[] { 0x30, 0x04, 0xff },
-            new byte[] { 0x43, 0x00, 0x6F }, // RGB565:first byte:{g[2:0],b[4:0]],second byte:{r[4:0],g[5:3]}
-            new byte[] { 0x50, 0x1f, 0x01 }, // Format: ISP RGB
-            new byte[] { 0x44, 0x0e, 0x00 }
+            [0x4001, 0x02],
+            [0x4005, 0x1a],
+            [0x3000, 0x00],
+            [0x3004, 0xff],
+            [0x4300, 0x6F], // RGB565:first byte:{g[2:0],b[4:0]],second byte:{r[4:0],g[5:3]}
+            [0x501f, 0x01], // Format: ISP RGB
+            [0x440e, 0x00]
        };

        return await ConfigureRegisters(formatRegisters);
@@ -717,10 +716,10 @@ class Camera
    /// <returns>配置结果</returns>
    public async ValueTask<Result<bool>> ConfigureISPControl()
    {
-        var ispRegisters = new byte[][]
+        var ispRegisters = new UInt16[][]
        {
-            new byte[] { 0x50, 0x00, 0xA7 }, // ISP控制
-            new byte[] { 0x50, 0x01, 0xA3 }  // ISP控制
+            [0x5000, 0xA7], // ISP控制
+            [0x5001, 0xA3]  // ISP控制
        };

        return await ConfigureRegisters(ispRegisters);
@@ -732,19 +731,19 @@ class Camera
    /// <returns>配置结果</returns>
    public async ValueTask<Result<bool>> ConfigureAEC()
    {
-        var aecRegisters = new byte[][]
+        var aecRegisters = new UInt16[][]
        {
-            new byte[] { 0x3a, 0x0f, 0x30 }, // AEC控制;stable range in high
-            new byte[] { 0x3a, 0x10, 0x28 }, // AEC控制;stable range in low
-            new byte[] { 0x3a, 0x1b, 0x30 }, // AEC控制;stable range out high
-            new byte[] { 0x3a, 0x1e, 0x26 }, // AEC控制;stable range out low
-            new byte[] { 0x3a, 0x11, 0x60 }, // AEC控制; fast zone high
-            new byte[] { 0x3a, 0x1f, 0x14 }, // AEC控制; fast zone low
-            new byte[] { 0x3a, 0x02, 0x17 }, // 60Hz max exposure
-            new byte[] { 0x3a, 0x03, 0x10 }, // 60Hz max exposure
-            new byte[] { 0x3a, 0x14, 0x17 }, // 50Hz max exposure
-            new byte[] { 0x3a, 0x15, 0x10 }, // 50Hz max exposure
-            new byte[] { 0x3b, 0x07, 0x0a }  // 帧曝光模式
+            [0x3a0f, 0x30], // AEC控制;stable range in high
+            [0x3a10, 0x28], // AEC控制;stable range in low
+            [0x3a1b, 0x30], // AEC控制;stable range out high
+            [0x3a1e, 0x26], // AEC控制;stable range out low
+            [0x3a11, 0x60], // AEC控制; fast zone high
+            [0x3a1f, 0x14], // AEC控制; fast zone low
+            [0x3a02, 0x17], // 60Hz max exposure
+            [0x3a03, 0x10], // 60Hz max exposure
+            [0x3a14, 0x17], // 50Hz max exposure
+            [0x3a15, 0x10], // 50Hz max exposure
+            [0x3b07, 0x0a]  // 帧曝光模式
        };

        return await ConfigureRegisters(aecRegisters);
@@ -756,29 +755,29 @@ class Camera
    /// <returns>配置结果</returns>
    public async ValueTask<Result<bool>> ConfigureLENC()
    {
-        var lencRegisters = new byte[][]
+        var lencRegisters = new UInt16[][]
        {
-            new byte[] { 0x58, 0x00, 0x23 }, new byte[] { 0x58, 0x01, 0x14 }, new byte[] { 0x58, 0x02, 0x0f },
-            new byte[] { 0x58, 0x03, 0x0f }, new byte[] { 0x58, 0x04, 0x12 }, new byte[] { 0x58, 0x05, 0x26 },
-            new byte[] { 0x58, 0x06, 0x0c }, new byte[] { 0x58, 0x07, 0x08 }, new byte[] { 0x58, 0x08, 0x05 },
-            new byte[] { 0x58, 0x09, 0x05 }, new byte[] { 0x58, 0x0a, 0x08 }, new byte[] { 0x58, 0x0b, 0x0d },
-            new byte[] { 0x58, 0x0c, 0x08 }, new byte[] { 0x58, 0x0d, 0x03 }, new byte[] { 0x58, 0x0e, 0x00 },
-            new byte[] { 0x58, 0x0f, 0x00 }, new byte[] { 0x58, 0x10, 0x03 }, new byte[] { 0x58, 0x11, 0x09 },
-            new byte[] { 0x58, 0x12, 0x07 }, new byte[] { 0x58, 0x13, 0x03 }, new byte[] { 0x58, 0x14, 0x00 },
-            new byte[] { 0x58, 0x15, 0x01 }, new byte[] { 0x58, 0x16, 0x03 }, new byte[] { 0x58, 0x17, 0x08 },
-            new byte[] { 0x58, 0x18, 0x0d }, new byte[] { 0x58, 0x19, 0x08 }, new byte[] { 0x58, 0x1a, 0x05 },
-            new byte[] { 0x58, 0x1b, 0x06 }, new byte[] { 0x58, 0x1c, 0x08 }, new byte[] { 0x58, 0x1d, 0x0e },
-            new byte[] { 0x58, 0x1e, 0x29 }, new byte[] { 0x58, 0x1f, 0x17 }, new byte[] { 0x58, 0x20, 0x11 },
-            new byte[] { 0x58, 0x21, 0x11 }, new byte[] { 0x58, 0x22, 0x15 }, new byte[] { 0x58, 0x23, 0x28 },
-            new byte[] { 0x58, 0x24, 0x46 }, new byte[] { 0x58, 0x25, 0x26 }, new byte[] { 0x58, 0x26, 0x08 },
-            new byte[] { 0x58, 0x27, 0x26 }, new byte[] { 0x58, 0x28, 0x64 }, new byte[] { 0x58, 0x29, 0x26 },
-            new byte[] { 0x58, 0x2a, 0x24 }, new byte[] { 0x58, 0x2b, 0x22 }, new byte[] { 0x58, 0x2c, 0x24 },
-            new byte[] { 0x58, 0x2d, 0x24 }, new byte[] { 0x58, 0x2e, 0x06 }, new byte[] { 0x58, 0x2f, 0x22 },
-            new byte[] { 0x58, 0x30, 0x40 }, new byte[] { 0x58, 0x31, 0x42 }, new byte[] { 0x58, 0x32, 0x24 },
-            new byte[] { 0x58, 0x33, 0x26 }, new byte[] { 0x58, 0x34, 0x24 }, new byte[] { 0x58, 0x35, 0x22 },
-            new byte[] { 0x58, 0x36, 0x22 }, new byte[] { 0x58, 0x37, 0x26 }, new byte[] { 0x58, 0x38, 0x44 },
-            new byte[] { 0x58, 0x39, 0x24 }, new byte[] { 0x58, 0x3a, 0x26 }, new byte[] { 0x58, 0x3b, 0x28 },
-            new byte[] { 0x58, 0x3c, 0x42 }, new byte[] { 0x58, 0x3d, 0xce }
+            [0x5800, 0x23], [0x5801, 0x14], [0x5802, 0x0f],
+            [0x5803, 0x0f], [0x5804, 0x12], [0x5805, 0x26],
+            [0x5806, 0x0c], [0x5807, 0x08], [0x5808, 0x05],
+            [0x5809, 0x05], [0x580a, 0x08], [0x580b, 0x0d],
+            [0x580c, 0x08], [0x580d, 0x03], [0x580e, 0x00],
+            [0x580f, 0x00], [0x5810, 0x03], [0x5811, 0x09],
+            [0x5812, 0x07], [0x5813, 0x03], [0x5814, 0x00],
+            [0x5815, 0x01], [0x5816, 0x03], [0x5817, 0x08],
+            [0x5818, 0x0d], [0x5819, 0x08], [0x581a, 0x05],
+            [0x581b, 0x06], [0x581c, 0x08], [0x581d, 0x0e],
+            [0x581e, 0x29], [0x581f, 0x17], [0x5820, 0x11],
+            [0x5821, 0x11], [0x5822, 0x15], [0x5823, 0x28],
+            [0x5824, 0x46], [0x5825, 0x26], [0x5826, 0x08],
+            [0x5827, 0x26], [0x5828, 0x64], [0x5829, 0x26],
+            [0x582a, 0x24], [0x582b, 0x22], [0x582c, 0x24],
+            [0x582d, 0x24], [0x582e, 0x06], [0x582f, 0x22],
+            [0x5830, 0x40], [0x5831, 0x42], [0x5832, 0x24],
+            [0x5833, 0x26], [0x5834, 0x24], [0x5835, 0x22],
+            [0x5836, 0x22], [0x5837, 0x26], [0x5838, 0x44],
+            [0x5839, 0x24], [0x583a, 0x26], [0x583b, 0x28],
+            [0x583c, 0x42], [0x583d, 0xce]
        };

        return await ConfigureRegisters(lencRegisters);
@@ -790,19 +789,19 @@ class Camera
    /// <returns>配置结果</returns>
    public async ValueTask<Result<bool>> ConfigureAWB()
    {
-        var awbRegisters = new byte[][]
+        var awbRegisters = new UInt16[][]
        {
-            new byte[] { 0x51, 0x80, 0xff }, new byte[] { 0x51, 0x81, 0xf2 }, new byte[] { 0x51, 0x82, 0x00 },
-            new byte[] { 0x51, 0x83, 0x14 }, new byte[] { 0x51, 0x84, 0x25 }, new byte[] { 0x51, 0x85, 0x24 },
-            new byte[] { 0x51, 0x86, 0x09 }, new byte[] { 0x51, 0x87, 0x09 }, new byte[] { 0x51, 0x88, 0x09 },
-            new byte[] { 0x51, 0x89, 0x75 }, new byte[] { 0x51, 0x8a, 0x54 }, new byte[] { 0x51, 0x8b, 0xe0 },
-            new byte[] { 0x51, 0x8c, 0xb2 }, new byte[] { 0x51, 0x8d, 0x42 }, new byte[] { 0x51, 0x8e, 0x3d },
-            new byte[] { 0x51, 0x8f, 0x56 }, new byte[] { 0x51, 0x90, 0x46 }, new byte[] { 0x51, 0x91, 0xf8 },
-            new byte[] { 0x51, 0x92, 0x04 }, new byte[] { 0x51, 0x93, 0x70 }, new byte[] { 0x51, 0x94, 0xf0 },
-            new byte[] { 0x51, 0x95, 0xf0 }, new byte[] { 0x51, 0x96, 0x03 }, new byte[] { 0x51, 0x97, 0x01 },
-            new byte[] { 0x51, 0x98, 0x04 }, new byte[] { 0x51, 0x99, 0x12 }, new byte[] { 0x51, 0x9a, 0x04 },
-            new byte[] { 0x51, 0x9b, 0x00 }, new byte[] { 0x51, 0x9c, 0x06 }, new byte[] { 0x51, 0x9d, 0x82 },
-            new byte[] { 0x51, 0x9e, 0x38 }
+            [0x5180, 0xff], [0x5181, 0xf2], [0x5182, 0x00],
+            [0x5183, 0x14], [0x5184, 0x25], [0x5185, 0x24],
+            [0x5186, 0x09], [0x5187, 0x09], [0x5188, 0x09],
+            [0x5189, 0x75], [0x518a, 0x54], [0x518b, 0xe0],
+            [0x518c, 0xb2], [0x518d, 0x42], [0x518e, 0x3d],
+            [0x518f, 0x56], [0x5190, 0x46], [0x5191, 0xf8],
+            [0x5192, 0x04], [0x5193, 0x70], [0x5194, 0xf0],
+            [0x5195, 0xf0], [0x5196, 0x03], [0x5197, 0x01],
+            [0x5198, 0x04], [0x5199, 0x12], [0x519a, 0x04],
+            [0x519b, 0x00], [0x519c, 0x06], [0x519d, 0x82],
+            [0x519e, 0x38]
        };

        return await ConfigureRegisters(awbRegisters, customDelayMs: 2);
@@ -814,14 +813,14 @@ class Camera
    /// <returns>配置结果</returns>
    public async ValueTask<Result<bool>> ConfigureGamma()
    {
-        var gammaRegisters = new byte[][]
+        var gammaRegisters = new UInt16[][]
        {
-            new byte[] { 0x54, 0x80, 0x01 }, new byte[] { 0x54, 0x81, 0x08 }, new byte[] { 0x54, 0x82, 0x14 },
-            new byte[] { 0x54, 0x83, 0x28 }, new byte[] { 0x54, 0x84, 0x51 }, new byte[] { 0x54, 0x85, 0x65 },
-            new byte[] { 0x54, 0x86, 0x71 }, new byte[] { 0x54, 0x87, 0x7d }, new byte[] { 0x54, 0x88, 0x87 },
-            new byte[] { 0x54, 0x89, 0x91 }, new byte[] { 0x54, 0x8a, 0x9a }, new byte[] { 0x54, 0x8b, 0xaa },
-            new byte[] { 0x54, 0x8c, 0xb8 }, new byte[] { 0x54, 0x8d, 0xcd }, new byte[] { 0x54, 0x8e, 0xdd },
-            new byte[] { 0x54, 0x8f, 0xea }, new byte[] { 0x54, 0x90, 0x1d }
+            [0x5480, 0x01], [0x5481, 0x08], [0x5482, 0x14],
+            [0x5483, 0x28], [0x5484, 0x51], [0x5485, 0x65],
+            [0x5486, 0x71], [0x5487, 0x7d], [0x5488, 0x87],
+            [0x5489, 0x91], [0x548a, 0x9a], [0x548b, 0xaa],
+            [0x548c, 0xb8], [0x548d, 0xcd], [0x548e, 0xdd],
+            [0x548f, 0xea], [0x5490, 0x1d]
        };

        return await ConfigureRegisters(gammaRegisters);
@@ -834,12 +833,12 @@ class Camera
    /// <returns>配置结果</returns>
    public async ValueTask<Result<bool>> ConfigureCMX()
    {
-        var cmxRegisters = new byte[][]
+        var cmxRegisters = new UInt16[][]
        {
-            new byte[] { 0x53, 0x81, 0x1e }, new byte[] { 0x53, 0x82, 0x5b }, new byte[] { 0x53, 0x83, 0x08 },
-            new byte[] { 0x53, 0x84, 0x0a }, new byte[] { 0x53, 0x85, 0x7e }, new byte[] { 0x53, 0x86, 0x88 },
-            new byte[] { 0x53, 0x87, 0x7c }, new byte[] { 0x53, 0x88, 0x6c }, new byte[] { 0x53, 0x89, 0x10 },
-            new byte[] { 0x53, 0x8a, 0x01 }, new byte[] { 0x53, 0x8b, 0x98 }
+            [0x5381, 0x1e], [0x5382, 0x5b], [0x5383, 0x08],
+            [0x5384, 0x0a], [0x5385, 0x7e], [0x5386, 0x88],
+            [0x5387, 0x7c], [0x5388, 0x6c], [0x5389, 0x10],
+            [0x538a, 0x01], [0x538b, 0x98]
        };

        return await ConfigureRegisters(cmxRegisters);
@@ -851,11 +850,11 @@ class Camera
    /// <returns>配置结果</returns>
    public async ValueTask<Result<bool>> ConfigureSDE()
    {
-        var sdeRegisters = new byte[][]
+        var sdeRegisters = new UInt16[][]
        {
-            new byte[] { 0x55, 0x80, 0x06 }, new byte[] { 0x55, 0x83, 0x40 }, new byte[] { 0x55, 0x84, 0x10 },
-            new byte[] { 0x55, 0x89, 0x10 }, new byte[] { 0x55, 0x8a, 0x00 }, new byte[] { 0x55, 0x8b, 0xf8 },
-            new byte[] { 0x50, 0x1d, 0x40 }
+            [0x5580, 0x06], [0x5583, 0x40], [0x5584, 0x10],
+            [0x5589, 0x10], [0x558a, 0x00], [0x558b, 0xf8],
+            [0x501d, 0x40]
        };

        return await ConfigureRegisters(sdeRegisters);
@@ -867,13 +866,13 @@ class Camera
    /// <returns>配置结果</returns>
    public async ValueTask<Result<bool>> ConfigureCIP()
    {
-        var cipRegisters = new byte[][]
+        var cipRegisters = new UInt16[][]
        {
-            new byte[] { 0x53, 0x00, 0x08 }, new byte[] { 0x53, 0x01, 0x30 }, new byte[] { 0x53, 0x02, 0x10 },
-            new byte[] { 0x53, 0x03, 0x00 }, new byte[] { 0x53, 0x04, 0x08 }, new byte[] { 0x53, 0x05, 0x30 },
-            new byte[] { 0x53, 0x06, 0x08 }, new byte[] { 0x53, 0x07, 0x16 }, new byte[] { 0x53, 0x09, 0x08 },
-            new byte[] { 0x53, 0x0a, 0x30 }, new byte[] { 0x53, 0x0b, 0x04 }, new byte[] { 0x53, 0x0c, 0x06 },
-            new byte[] { 0x50, 0x25, 0x00 }
+            [0x5300, 0x08], [0x5301, 0x30], [0x5302, 0x10],
+            [0x5303, 0x00], [0x5304, 0x08], [0x5305, 0x30],
+            [0x5306, 0x08], [0x5307, 0x16], [0x5309, 0x08],
+            [0x530a, 0x30], [0x530b, 0x04], [0x530c, 0x06],
+            [0x5025, 0x00]
        };

        return await ConfigureRegisters(cipRegisters);
@@ -885,16 +884,16 @@ class Camera
    /// <returns>配置结果</returns>
    public async ValueTask<Result<bool>> ConfigureTimingControl()
    {
-        var timingRegisters = new byte[][]
+        var timingRegisters = new UInt16[][]
        {
-            new byte[] { 0x38, 0x20, 0x46 }, // vflip
-            new byte[] { 0x38, 0x21, 0x01 }, // mirror
-            new byte[] { 0x38, 0x14, 0x31 }, // timing X inc
-            new byte[] { 0x38, 0x15, 0x31 }, // timing Y inc
-            new byte[] { 0x36, 0x18, 0x00 },
-            new byte[] { 0x36, 0x12, 0x29 },
-            new byte[] { 0x37, 0x09, 0x52 },
-            new byte[] { 0x37, 0x0c, 0x03 }
+            [0x3820, 0x46], // vflip
+            [0x3821, 0x01], // mirror
+            [0x3814, 0x31], // timing X inc
+            [0x3815, 0x31], // timing Y inc
+            [0x3618, 0x00],
+            [0x3612, 0x29],
+            [0x3709, 0x52],
+            [0x370c, 0x03]
        };

        return await ConfigureRegisters(timingRegisters);
@@ -906,22 +905,22 @@ class Camera
    /// <returns>配置结果</returns>
    public async ValueTask<Result<bool>> ConfigureTestAndFlash()
    {
-        var testRegisters = new byte[][]
+        var testRegisters = new UInt16[][]
        {
-            new byte[] { 0x40, 0x04, 0x02 }, // BLC(背光) 2 lines
-            new byte[] { 0x47, 0x13, 0x03 }, // JPEG mode 3
-            new byte[] { 0x44, 0x07, 0x04 }, // 量化标度
-            new byte[] { 0x46, 0x0c, 0x20 },
-            new byte[] { 0x48, 0x37, 0x22 }, // DVP CLK divider
-            new byte[] { 0x38, 0x24, 0x02 }, // DVP CLK divider
+            [0x4004, 0x02], // BLC(背光) 2 lines
+            [0x4713, 0x03], // JPEG mode 3
+            [0x4407, 0x04], // 量化标度
+            [0x460c, 0x20],
+            [0x4837, 0x22], // DVP CLK divider
+            [0x3824, 0x02], // DVP CLK divider
            // 彩条测试禁用
-            new byte[] { 0x50, 0x3d, 0x00 },
-            new byte[] { 0x47, 0x41, 0x00 },
+            [0x503d, 0x00],
+            [0x4741, 0x00],
            // 闪光灯配置
-            new byte[] { 0x30, 0x16, 0x02 },
-            new byte[] { 0x30, 0x1c, 0x02 },
-            new byte[] { 0x30, 0x19, 0x02 }, // 开启闪光灯
-            new byte[] { 0x30, 0x19, 0x00 }  // 关闭闪光灯
+            [0x3016, 0x02],
+            [0x301c, 0x02],
+            [0x3019, 0x02], // 开启闪光灯
+            [0x3019, 0x00]  // 关闭闪光灯
        };

        return await ConfigureRegisters(testRegisters);
@@ -933,11 +932,396 @@ class Camera
    /// <returns>配置结果</returns>
    public async ValueTask<Result<bool>> StartStreaming()
    {
-        var startRegisters = new byte[][]
+        var startRegisters = new UInt16[][]
        {
-            new byte[] { 0x30, 0x08, 0x02 } // 开始流
+            [0x3008, 0x02] // 开始流
        };

        return await ConfigureRegisters(startRegisters);
    }
+
+    #region 自动对焦功能
+
+    /// <summary>
+    /// OV5640 自动对焦固件数据
+    /// </summary>
+    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, 
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+        0x09, 0xb8, 0x04, 0x09, 0xbe, 0x05, 0x09, 0xc1, 0x06, 0x09, 0xc4, 0x07, 0x09, 0xcd, 0x08, 0x09, 
+        0xde, 0x12, 0x09, 0xe0, 0x80, 0x09, 0xe5, 0x81, 0x0a, 0x43, 0x8f, 0x0a, 0x32, 0x90, 0x0a, 0x43, 
+        0x91, 0x0a, 0x43, 0x92, 0x0a, 0x43, 0x93, 0x0a, 0x43, 0x94, 0x0a, 0x43, 0x98, 0x0a, 0x40, 0x9f, 
+        0x00, 0x00, 0x0a, 0x5e, 0x12, 0x0e, 0xce, 0x22, 0x12, 0x0e, 0xce, 0xd2, 0x03, 0x22, 0xd2, 0x03, 
+        0x22, 0xc2, 0x03, 0x22, 0xa2, 0x36, 0xe4, 0x33, 0xf5, 0x3c, 0x02, 0x0a, 0x43, 0xc2, 0x01, 0xc2, 
+        0x02, 0xc2, 0x03, 0x12, 0x0d, 0x14, 0x75, 0x1e, 0x70, 0xd2, 0x34, 0x02, 0x0a, 0x43, 0x80, 0x4d, 
+        0x12, 0x0f, 0x17, 0x80, 0x5e, 0x85, 0x3d, 0x43, 0x85, 0x3e, 0x44, 0xe5, 0x45, 0xc3, 0x13, 0xff, 
+        0xe5, 0x43, 0xc3, 0x9f, 0x50, 0x02, 0x8f, 0x43, 0xe5, 0x46, 0xc3, 0x13, 0xff, 0xe5, 0x44, 0xc3, 
+        0x9f, 0x50, 0x02, 0x8f, 0x44, 0xe5, 0x45, 0xc3, 0x13, 0xff, 0xfd, 0xe5, 0x43, 0x90, 0x0e, 0x7f, 
+        0x12, 0x0e, 0xea, 0x40, 0x04, 0xee, 0x9f, 0xf5, 0x43, 0xe5, 0x46, 0xc3, 0x13, 0xff, 0xfd, 0xe5, 
+        0x44, 0x90, 0x0e, 0x80, 0x12, 0x0e, 0xea, 0x40, 0x04, 0xee, 0x9f, 0xf5, 0x44, 0x12, 0x07, 0x8d, 
+        0x80, 0x11, 0x85, 0x40, 0x46, 0x85, 0x3f, 0x45, 0x85, 0x3e, 0x44, 0x85, 0x3d, 0x43, 0x80, 0x03, 
+        0x02, 0x07, 0x8d, 0x90, 0x30, 0x24, 0xe5, 0x3d, 0xf0, 0xa3, 0xe5, 0x3e, 0xf0, 0xa3, 0xe5, 0x3f, 
+        0xf0, 0xa3, 0xe5, 0x40, 0xf0, 0xa3, 0xe5, 0x3c, 0xf0, 0x90, 0x30, 0x23, 0xe4, 0xf0, 0x22, 0xc0, 
+        0xe0, 0xc0, 0x83, 0xc0, 0x82, 0xc0, 0xd0, 0x90, 0x3f, 0x0c, 0xe0, 0xf5, 0x32, 0xe5, 0x32, 0x30, 
+        0xe3, 0x4c, 0x30, 0x35, 0x3e, 0x90, 0x60, 0x19, 0xe0, 0xf5, 0x0a, 0xa3, 0xe0, 0xf5, 0x0b, 0x90, 
+        0x60, 0x1d, 0xe0, 0xf5, 0x14, 0xa3, 0xe0, 0xf5, 0x15, 0x30, 0x01, 0x06, 0x30, 0x32, 0x03, 0xd3, 
+        0x80, 0x01, 0xc3, 0x92, 0x09, 0x30, 0x02, 0x06, 0x30, 0x32, 0x03, 0xd3, 0x80, 0x01, 0xc3, 0x92, 
+        0x0a, 0x30, 0x32, 0x0c, 0x30, 0x03, 0x09, 0x20, 0x02, 0x06, 0x20, 0x01, 0x03, 0xd3, 0x80, 0x01, 
+        0xc3, 0x92, 0x0b, 0x90, 0x30, 0x01, 0xe0, 0x44, 0x40, 0xf0, 0xe0, 0x54, 0xbf, 0xf0, 0xe5, 0x32, 
+        0x30, 0xe1, 0x14, 0x30, 0x33, 0x11, 0x90, 0x30, 0x22, 0xe0, 0xf5, 0x08, 0xe4, 0xf0, 0x30, 0x00, 
+        0x03, 0xd3, 0x80, 0x01, 0xc3, 0x92, 0x08, 0xe5, 0x32, 0x30, 0xe5, 0x12, 0x90, 0x56, 0xa1, 0xe0, 
+        0xf5, 0x09, 0x30, 0x30, 0x09, 0x30, 0x05, 0x03, 0xd3, 0x80, 0x01, 0xc3, 0x92, 0x0d, 0x90, 0x3f, 
+        0x0c, 0xe5, 0x32, 0xf0, 0xd0, 0xd0, 0xd0, 0x82, 0xd0, 0x83, 0xd0, 0xe0, 0x32, 0x90, 0x0e, 0x7d, 
+        0xe4, 0x93, 0xfe, 0x74, 0x01, 0x93, 0xff, 0xc3, 0x90, 0x0e, 0x7b, 0x74, 0x01, 0x93, 0x9f, 0xff, 
+        0xe4, 0x93, 0x9e, 0xfe, 0xe4, 0x8f, 0x3b, 0x8e, 0x3a, 0xf5, 0x39, 0xf5, 0x38, 0xab, 0x3b, 0xaa, 
+        0x3a, 0xa9, 0x39, 0xa8, 0x38, 0xaf, 0x49, 0xfc, 0xfd, 0xfe, 0x12, 0x05, 0xf1, 0x12, 0x0e, 0xfc, 
+        0xe4, 0x7b, 0xff, 0xfa, 0xf9, 0xf8, 0x12, 0x06, 0x7c, 0x12, 0x0e, 0xfc, 0x90, 0x0e, 0x69, 0xe4, 
+        0x12, 0x0f, 0x11, 0x12, 0x0e, 0xfc, 0xe4, 0x85, 0x48, 0x37, 0xf5, 0x36, 0xf5, 0x35, 0xf5, 0x34, 
+        0xaf, 0x37, 0xae, 0x36, 0xad, 0x35, 0xac, 0x34, 0xa3, 0x12, 0x0f, 0x11, 0x8f, 0x37, 0x8e, 0x36, 
+        0x8d, 0x35, 0x8c, 0x34, 0xe5, 0x3b, 0x45, 0x37, 0xf5, 0x3b, 0xe5, 0x3a, 0x45, 0x36, 0xf5, 0x3a, 
+        0xe5, 0x39, 0x45, 0x35, 0xf5, 0x39, 0xe5, 0x38, 0x45, 0x34, 0xf5, 0x38, 0xe4, 0xf5, 0x22, 0xf5, 
+        0x23, 0x85, 0x3b, 0x31, 0x85, 0x3a, 0x30, 0x85, 0x39, 0x2f, 0x85, 0x38, 0x2e, 0x02, 0x0d, 0xc5, 
+        0xad, 0x39, 0xac, 0x38, 0xfa, 0xf9, 0xf8, 0x12, 0x05, 0xf1, 0x8f, 0x3b, 0x8e, 0x3a, 0x8d, 0x39, 
+        0x8c, 0x38, 0xab, 0x37, 0xaa, 0x36, 0xa9, 0x35, 0xa8, 0x34, 0x22, 0xef, 0x25, 0xe0, 0x24, 0x4c, 
+        0xf8, 0xe6, 0xfc, 0x08, 0xe6, 0xfd, 0x22, 0x93, 0xff, 0xe4, 0xfc, 0xfd, 0xfe, 0x12, 0x05, 0xf1, 
+        0x8f, 0x37, 0x8e, 0x36, 0x8d, 0x35, 0x8c, 0x34, 0x22, 0xf9, 0xc3, 0xe6, 0x97, 0x18, 0xe6, 0x19, 
+        0x97, 0x22, 0xff, 0xa6, 0x06, 0x08, 0xa6, 0x07, 0x22, 0xe6, 0xfe, 0x08, 0xe6, 0xff, 0xe4, 0x8f, 
+        0x37, 0x8e, 0x36, 0xf5, 0x35, 0xf5, 0x34, 0x22, 0xe6, 0xfe, 0x08, 0xe6, 0xff, 0xe4, 0x8f, 0x3b, 
+        0x8e, 0x3a, 0xf5, 0x39, 0xf5, 0x38, 0x22, 0xe7, 0x96, 0xff, 0x19, 0xe7, 0x18, 0x96, 0x22, 0xff, 
+        0xa6, 0x06, 0x08, 0xa6, 0x07, 0x78, 0x6c, 0xe6, 0xfe, 0x08, 0xe6, 0x22, 0x78, 0x4c, 0xe6, 0xfe, 
+        0x08, 0xe6, 0x22, 0x78, 0xa7, 0xef, 0x26, 0xf6, 0x18, 0xe4, 0x36, 0xf6, 0x22, 0x78, 0x50, 0x7e, 
+        0x00, 0xe6, 0xfc, 0x08, 0xe6, 0xfd, 0x12, 0x05, 0x8a, 0x7c, 0x00, 0x22, 0xe0, 0xa3, 0xe0, 0x75, 
+        0xf0, 0x02, 0xa4, 0xff, 0xae, 0xf0, 0xc3, 0x08, 0xe6, 0x9f, 0xf6, 0x18, 0xe6, 0x9e, 0xf6, 0x22, 
+        0xff, 0xe5, 0xf0, 0x34, 0x60, 0x8f, 0x82, 0xf5, 0x83, 0xec, 0xf0, 0x22, 0xe4, 0xfc, 0xfd, 0x12, 
+        0x07, 0x4f, 0x78, 0x5a, 0xe6, 0xc3, 0x13, 0xfe, 0x08, 0xe6, 0x13, 0x22, 0x78, 0x50, 0xe6, 0xfe, 
+        0x08, 0xe6, 0xff, 0xe4, 0xfc, 0xfd, 0x22, 0xe7, 0xc4, 0xf8, 0x54, 0xf0, 0xc8, 0x68, 0xf7, 0x09, 
+        0xe7, 0xc4, 0x54, 0x0f, 0x48, 0xf7, 0x22, 0xe6, 0xfc, 0xed, 0x75, 0xf0, 0x04, 0xa4, 0x22, 0xe0, 
+        0xfe, 0xa3, 0xe0, 0xfd, 0xee, 0xf6, 0xed, 0x08, 0xf6, 0x22, 0x13, 0xff, 0xc3, 0xe6, 0x9f, 0xff, 
+        0x18, 0xe6, 0x9e, 0xfe, 0x22, 0xe6, 0xc3, 0x13, 0xf7, 0x08, 0xe6, 0x13, 0x09, 0xf7, 0x22, 0x75, 
+        0x89, 0x03, 0x75, 0xa8, 0x01, 0x75, 0xb8, 0x04, 0x75, 0x34, 0xff, 0x75, 0x35, 0x0e, 0x75, 0x36, 
+        0x15, 0x75, 0x37, 0x0d, 0x12, 0x0d, 0x85, 0x12, 0x00, 0x09, 0x12, 0x0f, 0x17, 0x12, 0x00, 0x06, 
+        0xd2, 0x00, 0xd2, 0x33, 0xd2, 0xaf, 0x75, 0x34, 0xff, 0x75, 0x35, 0x0e, 0x75, 0x36, 0x49, 0x75, 
+        0x37, 0x03, 0x12, 0x0d, 0x85, 0x30, 0x08, 0x09, 0xc2, 0x33, 0x12, 0x09, 0x5d, 0xc2, 0x08, 0xd2, 
+        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
+    ];
+
+    /// <summary>
+    /// 写入自动对焦固件到摄像头
+    /// </summary>
+    /// <returns>写入结果</returns>
+    private async ValueTask<Result<bool>> WriteFocusFirmware()
+    {
+        logger.Info("开始写入OV5640自动对焦固件");
+
+        var setStartAddrResult = await ConfigureRegisters([[0x3000, 0x80]]);
+        if (!setStartAddrResult.IsSuccessful) return setStartAddrResult;
+
+        UInt16 firmwareAddr = 0x8000;
+        var firmwareCommands = new List<UInt16[]>();
+        for (int i = 0; i < OV5640_AF_FIRMWARE.Length; i++)
+        {
+            UInt16 addr = (UInt16)(firmwareAddr + i);
+            firmwareCommands.Add([addr, OV5640_AF_FIRMWARE[i]]);
+        }
+        
+        var result = await ConfigureRegisters(firmwareCommands.ToArray());
+        if (!result.IsSuccessful)
+        {
+            logger.Error($"固件写入失败: {result.Error}");
+            return result;
+        }
+
+        logger.Info($"OV5640自动对焦固件写入完成，总共写入 {OV5640_AF_FIRMWARE.Length} 字节");
+        return true;
+    }
+
+    /// <summary>
+    /// 初始化自动对焦功能
+    /// </summary>
+    /// <returns>初始化结果</returns>
+    public async ValueTask<Result<bool>> InitAutoFocus()
+    {
+        logger.Info("开始初始化OV5640自动对焦功能");
+
+        // 步骤1: 启动MCU
+        var mcuResult = await ConfigureRegisters([[0x3000, 0x20]]);
+        if (!mcuResult.IsSuccessful) return mcuResult;
+
+        // 步骤2: 写入自动对焦固件
+        var firmwareResult = await WriteFocusFirmware();
+        if (!firmwareResult.IsSuccessful) return firmwareResult;
+
+        // 步骤3: 配置对焦相关寄存器
+        var focusRegisters = new UInt16[][]
+        {
+            [0x3022, 0x00], // 清除指令寄存器
+            [0x3023, 0x00], // 清除状态寄存器
+            [0x3024, 0x00], // 清除参数寄存器
+            [0x3025, 0x00],
+            [0x3026, 0x00],
+            [0x3027, 0x00],
+            [0x3028, 0x00],
+            [0x3029, 0xFF], // 状态寄存器
+            [0x3000, 0x00], // 启动MCU
+            [0x3004, 0xFF]  // 使能中断
+        };
+        var result = await ConfigureRegisters(focusRegisters);
+        if (!result.IsSuccessful) return result;
+
+        logger.Info("OV5640自动对焦功能初始化完成");
+        return true;
+    }
+
+    /// <summary>
+    /// 执行一次自动对焦
+    /// </summary>
+    /// <returns>对焦结果</returns>
+    public async ValueTask<Result<bool>> PerformAutoFocus()
+    {
+        logger.Info("开始执行一次自动对焦");
+
+        // 步骤1: 将 0x3022 寄存器写为 0x03，开始单点对焦过程
+        var focusCmdResult = await ConfigureRegisters([[0x3022, 0x03]]);
+        if (!focusCmdResult.IsSuccessful)
+        {
+            logger.Error($"写入对焦命令失败: {focusCmdResult.Error}");
+            return focusCmdResult;
+        }
+
+        logger.Info("已发送单点对焦命令 (0x3022 = 0x03)");
+
+        // 步骤2: 读取寄存器 0x3029 的状态，如果返回值为 0x10，代表对焦已完成
+        int iteration = 5000;
+        byte focusStatus = 0x00;
+        
+        do
+        {
+            var readResult = await ReadRegister(0x3029);
+            if (!readResult.IsSuccessful)
+            {
+                logger.Error($"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);
+
+        // 步骤3: 写寄存器 0x3022 为 0x06，暂停对焦过程，使镜头将保持在此对焦位置
+        var pauseResult = await ConfigureRegisters([[0x3022, 0x06]]);
+        if (!pauseResult.IsSuccessful)
+        {
+            logger.Error($"暂停对焦过程失败: {pauseResult.Error}");
+            return pauseResult;
+        }
+
+        logger.Info($"自动对焦完成并暂停，镜头保持在对焦位置，剩余迭代次数: {iteration}");
+        return true;
+    }
+
+    #endregion
 }
--- a/server/src/Services/HttpVideoStreamService.cs
+++ b/server/src/Services/HttpVideoStreamService.cs
@@ -1030,4 +1030,98 @@ public class HttpVideoStreamService : BackgroundService
            (1280, 720, "1280x720 (HD)")
        };
    }
+
+    #region 自动对焦功能
+
+    /// <summary>
+    /// 检查摄像头是否已配置
+    /// </summary>
+    /// <returns>是否已配置</returns>
+    public bool IsCameraConfigured()
+    {
+        lock (_cameraLock)
+        {
+            return _camera != null && !string.IsNullOrEmpty(_cameraAddress);
+        }
+    }
+
+    /// <summary>
+    /// 初始化摄像头自动对焦功能
+    /// </summary>
+    /// <returns>初始化结果</returns>
+    public async Task<bool> InitAutoFocusAsync()
+    {
+        try
+        {
+            lock (_cameraLock)
+            {
+                if (_camera == null)
+                {
+                    logger.Error("摄像头未配置，无法初始化自动对焦");
+                    return false;
+                }
+            }
+
+            logger.Info("开始初始化摄像头自动对焦功能");
+            
+            var result = await _camera!.InitAutoFocus();
+            
+            if (result.IsSuccessful && result.Value)
+            {
+                logger.Info("摄像头自动对焦功能初始化成功");
+                return true;
+            }
+            else
+            {
+                logger.Error($"摄像头自动对焦功能初始化失败: {result.Error?.Message ?? "未知错误"}");
+                return false;
+            }
+        }
+        catch (Exception ex)
+        {
+            logger.Error(ex, "初始化摄像头自动对焦功能时发生异常");
+            return false;
+        }
+    }
+
+    /// <summary>
+    /// 执行摄像头自动对焦
+    /// </summary>
+    /// <returns>对焦结果</returns>
+    public async Task<bool> PerformAutoFocusAsync()
+    {
+        try
+        {
+            lock (_cameraLock)
+            {
+                if (_camera == null)
+                {
+                    logger.Error("摄像头未配置，无法执行自动对焦");
+                    return false;
+                }
+            }
+
+            logger.Info("开始执行摄像头自动对焦");
+            
+            var result = await _camera!.PerformAutoFocus();
+            
+            if (result.IsSuccessful && result.Value)
+            {
+                logger.Info("摄像头自动对焦执行成功");
+                return true;
+            }
+            else
+            {
+                logger.Error($"摄像头自动对焦执行失败: {result.Error?.Message ?? "未知错误"}");
+                return false;
+            }
+        }
+        catch (Exception ex)
+        {
+            logger.Error(ex, "执行摄像头自动对焦时发生异常");
+            return false;
+        }
+    }
+
+    #endregion
 }