diff --git a/screen_client.py b/screen_client.py
new file mode 100644
index 0000000..7e47d5a
--- /dev/null
+++ b/screen_client.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import webbrowser
+import socket
+import time
+
+def get_comma3_ip():
+    # 这里需要替换为实际的comma3 IP地址
+    # 可以通过局域网扫描或其他方式获取
+    return "192.168.1.100"  # 示例IP
+
+def main():
+    comma3_ip = get_comma3_ip()
+    url = f"http://{comma3_ip}:5000"
+    print(f"正在打开浏览器访问: {url}")
+    webbrowser.open(url)
+
+if __name__ == "__main__":
+    main()
\ No newline at end of file
diff --git a/screen_server.py b/screen_server.py
new file mode 100644
index 0000000..13662d6
--- /dev/null
+++ b/screen_server.py
@@ -0,0 +1,232 @@
+#!/usr/bin/env python3
+import cv2
+import numpy as np
+from flask import Flask, Response
+from flask_socketio import SocketIO
+import threading
+import time
+import io
+import os
+import struct
+import fcntl
+import array
+import ctypes
+import subprocess
+
+app = Flask(__name__)
+socketio = SocketIO(app, cors_allowed_origins="*")
+
+# Framebuffer ioctl constants
+FBIOGET_VSCREENINFO = 0x4600
+FBIOGET_FSCREENINFO = 0x4602
+
+class FrameBufferInfo(ctypes.Structure):
+    _fields_ = [
+        ('xres', ctypes.c_uint32),
+        ('yres', ctypes.c_uint32),
+        ('xres_virtual', ctypes.c_uint32),
+        ('yres_virtual', ctypes.c_uint32),
+        ('xoffset', ctypes.c_uint32),
+        ('yoffset', ctypes.c_uint32),
+        ('bits_per_pixel', ctypes.c_uint32),
+        ('grayscale', ctypes.c_uint32),
+        ('red', ctypes.c_uint32 * 3),
+        ('green', ctypes.c_uint32 * 3),
+        ('blue', ctypes.c_uint32 * 3),
+        ('transp', ctypes.c_uint32 * 3),
+        ('nonstd', ctypes.c_uint32),
+        ('activate', ctypes.c_uint32),
+        ('height', ctypes.c_uint32),
+        ('width', ctypes.c_uint32),
+        ('accel_flags', ctypes.c_uint32),
+        ('pixclock', ctypes.c_uint32),
+        ('left_margin', ctypes.c_uint32),
+        ('right_margin', ctypes.c_uint32),
+        ('upper_margin', ctypes.c_uint32),
+        ('lower_margin', ctypes.c_uint32),
+        ('hsync_len', ctypes.c_uint32),
+        ('vsync_len', ctypes.c_uint32),
+        ('sync', ctypes.c_uint32),
+        ('vmode', ctypes.c_uint32),
+        ('rotate', ctypes.c_uint32),
+        ('colorspace', ctypes.c_uint32),
+        ('reserved', ctypes.c_uint32 * 4),
+    ]
+
+class FrameBufferCapture:
+    def __init__(self, device='/dev/fb0'):
+        self.device = device
+        self.fb_file = None
+        self.width = 0
+        self.height = 0
+        self.bpp = 0
+        self.initialized = False
+
+        try:
+            self.fb_file = open(device, 'rb')
+            fb_var = FrameBufferInfo()
+
+            fcntl.ioctl(self.fb_file, FBIOGET_VSCREENINFO, fb_var)
+
+            self.width = fb_var.xres
+            self.height = fb_var.yres
+            self.bpp = fb_var.bits_per_pixel
+            self.initialized = True
+
+            print(f"Framebuffer info: {self.width}x{self.height}, {self.bpp} bits per pixel")
+        except Exception as e:
+            print(f"Failed to initialize framebuffer: {str(e)}")
+            if self.fb_file:
+                self.fb_file.close()
+                self.fb_file = None
+
+    def capture(self):
+        if not self.initialized or not self.fb_file:
+            return None
+
+        try:
+            # Seek to beginning of framebuffer
+            self.fb_file.seek(0)
+
+            # Read the entire framebuffer
+            buffer_size = self.width * self.height * (self.bpp // 8)
+            frame_data = self.fb_file.read(buffer_size)
+
+            # Convert to numpy array based on bpp
+            if self.bpp == 32:  # RGBA
+                frame = np.frombuffer(frame_data, dtype=np.uint8).reshape(self.height, self.width, 4)
+                return cv2.cvtColor(frame, cv2.COLOR_BGRA2BGR)
+            elif self.bpp == 24:  # RGB
+                frame = np.frombuffer(frame_data, dtype=np.uint8).reshape(self.height, self.width, 3)
+                return frame
+            elif self.bpp == 16:  # RGB565
+                frame = np.frombuffer(frame_data, dtype=np.uint16).reshape(self.height, self.width)
+                # Convert RGB565 to RGB888
+                r = ((frame & 0xF800) >> 11) * 8
+                g = ((frame & 0x07E0) >> 5) * 4
+                b = (frame & 0x001F) * 8
+                frame_rgb = np.stack([r, g, b], axis=2).astype(np.uint8)
+                return frame_rgb
+            else:
+                print(f"Unsupported bpp: {self.bpp}")
+                return None
+        except Exception as e:
+            print(f"Error capturing framebuffer: {str(e)}")
+            return None
+
+    def close(self):
+        if self.fb_file:
+            self.fb_file.close()
+            self.fb_file = None
+            self.initialized = False
+
+# Try to use MSS if available
+try:
+    from mss import mss
+    has_mss = True
+except ImportError:
+    has_mss = False
+
+def capture_with_mss():
+    with mss() as sct:
+        monitor = sct.monitors[1]
+        while True:
+            try:
+                screenshot = sct.grab(monitor)
+                frame = np.array(screenshot)
+                frame = cv2.cvtColor(frame, cv2.COLOR_BGRA2BGR)
+                return frame
+            except Exception as e:
+                print(f"MSS截图错误: {str(e)}")
+                return None
+
+def capture_screen():
+    # 尝试初始化framebuffer
+    fb_capture = FrameBufferCapture()
+    use_fb = fb_capture.initialized
+
+    # 如果framebuffer不可用，尝试使用mss
+    use_mss = has_mss and not use_fb
+
+    while True:
+        try:
+            frame = None
+
+            if use_fb:
+                frame = fb_capture.capture()
+            elif use_mss:
+                frame = capture_with_mss()
+
+            if frame is None:
+                print("无法捕获屏幕，尝试其他方法...")
+                time.sleep(1)
+                continue
+
+            # 压缩图像
+            _, buffer = cv2.imencode('.jpg', frame, [cv2.IMWRITE_JPEG_QUALITY, 80])
+
+            # 转换为字节
+            frame_bytes = buffer.tobytes()
+
+            # 通过WebSocket广播
+            socketio.emit('screen_frame', frame_bytes)
+
+        except Exception as e:
+            print(f"截图错误: {str(e)}")
+
+        time.sleep(0.033)  # 约30fps
+
+    # 清理资源
+    if use_fb:
+        fb_capture.close()
+
+@app.route('/')
+def index():
+    return """
+    <html>
+        <head>
+            <title>OpenPilot Screen Stream</title>
+            <style>
+                body { margin: 0; background: #000; }
+                img { width: 100%; height: 100vh; object-fit: contain; }
+            </style>
+        </head>
+        <body>
+            <img id="screen">
+            <script src="https://cdnjs.cloudflare.com/ajax/libs/socket.io/4.0.1/socket.io.js"></script>
+            <script>
+                var socket = io();
+                var img = document.getElementById('screen');
+
+                socket.on('screen_frame', function(frame) {
+                    var blob = new Blob([frame], {type: 'image/jpeg'});
+                    var url = URL.createObjectURL(blob);
+                    img.src = url;
+                });
+            </script>
+        </body>
+    </html>
+    """
+
+if __name__ == '__main__':
+    # 检测环境
+    print("检测屏幕捕获方法...")
+
+    # 检查framebuffer
+    if os.path.exists('/dev/fb0'):
+        print("检测到framebuffer设备")
+    else:
+        print("未检测到framebuffer设备")
+
+    # 检查mss
+    if has_mss:
+        print("检测到MSS库")
+    else:
+        print("未检测到MSS库")
+
+    # 启动屏幕捕获线程
+    capture_thread = threading.Thread(target=capture_screen, daemon=True)
+    capture_thread.start()
+
+    # 启动Web服务器
+    socketio.run(app, host='0.0.0.0', port=5000)
\ No newline at end of file