From bfa6d8deb6643e802f10ddcfe1e28ad1ada32b89 Mon Sep 17 00:00:00 2001
From: qing <1776177662@qq.com>
Date: Thu, 13 Aug 2026 16:38:15 +0800
Subject: [PATCH] =?UTF-8?q?fix(pybot):=20=E5=BD=95=E5=88=B6=E6=97=B6?=
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_grab_frame 从 camera.latest()（读后台队列）改为 camera.capture()
（直接调 grabber 同步抓帧），确保每个微动作拿到独立帧而非队列中
可能重复的旧帧。Camera 新增 capture() 方法。
---
 pybot/pybot/hd/camera.py   |  6 ++++++
 pybot/pybot/robot.py       | 10 +++++-----
 pybot/tests/test_camera.py | 14 ++++++++++++++
 3 files changed, 25 insertions(+), 5 deletions(-)

diff --git a/pybot/pybot/hd/camera.py b/pybot/pybot/hd/camera.py
index cb63569..bf02603 100644
--- a/pybot/pybot/hd/camera.py
+++ b/pybot/pybot/hd/camera.py
@@ -69,6 +69,12 @@ class Camera:
         with self._lock:
             return self._queue[-1] if self._queue else None
 
+    def capture(self):
+        """同步抓一帧（按需，不从队列读）；dry_run 或无 grabber 返回 None"""
+        if self._grabber is None:
+            return None
+        return self._grabber()
+
     def snapshot(self):
         """队列快照 list（旧→新），供消费方批量取帧"""
         with self._lock:
diff --git a/pybot/pybot/robot.py b/pybot/pybot/robot.py
index 6ae6a6d..a30b486 100644
--- a/pybot/pybot/robot.py
+++ b/pybot/pybot/robot.py
@@ -254,13 +254,13 @@ class RobotStruct:
         return vec
 
     def _grab_frame(self, camera_var):
-        """从摄像头取最新帧；dry_run 或无帧时返回随机噪声帧"""
+        """从摄像头同步抓一帧；dry_run 或无帧时返回随机噪声帧"""
         import numpy as np
         if camera_var is not None:
-            result = camera_var.play({})
-            if result is not None:
-                return result[1]       # (timestamp, frame)
-        # dry_run 或队列空：随机噪声帧（用 camera 配置尺寸）
+            frame = camera_var.camera.capture()
+            if frame is not None:
+                return frame
+        # dry_run 或无 grabber：随机噪声帧（用 camera 配置尺寸）
         h, w = 480, 640
         if camera_var is not None:
             cam = camera_var.camera
diff --git a/pybot/tests/test_camera.py b/pybot/tests/test_camera.py
index 5d0a932..c74f846 100644
--- a/pybot/tests/test_camera.py
+++ b/pybot/tests/test_camera.py
@@ -82,6 +82,20 @@ def test_dry_run_no_hardware():
     assert cam.latest() is None
 
 
+def test_capture_on_demand():
+    """capture() 同步按需抓帧，每个微步一帧"""
+    cam = Camera(grabber=FakeGrabber())
+    assert cam.capture() == 1
+    assert cam.capture() == 2       # 每次调用递增，不复用队列
+    assert cam.capture() == 3
+
+
+def test_capture_no_grabber():
+    """dry_run 或未 setup 时 capture() 返回 None"""
+    cam = Camera(dry_run=True)
+    assert cam.capture() is None
+
+
 def test_camera_var_from_matrix():
     robot = RobotStruct(CAMERA_MT, dry_run=True)
     cam = robot.M["cam0"].camera