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