Merge branch 'master' of ssh://git.swordlost.top:222/SikongJueluo/FPGA_WebLab into dpp

server/src/Peripherals/CameraClient.cs

@@ -213,6 +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
         MsgBus.UDPServer.ClearUDPData(this.address, this.taskID);
 
         logger.Trace($"Reading frame from camera {this.address}");
@@ -252,6 +253,8 @@ 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)
@@ -1291,20 +1294,20 @@ 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);
         }