From 5b3af5402f00a7f0d36f4b856f008317937e8da3 Mon Sep 17 00:00:00 2001
From: "Mr.one" <mawei1991@gmail.com>
Date: Thu, 25 Jun 2026 13:57:49 +0800
Subject: [PATCH] =?UTF-8?q?=E7=BC=96=E8=BE=91c3=5Fclient.py?=
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---
 selfdrive/c3_client.py | 102 +++++++++++++++++++++++++++++++++++++++--
 1 file changed, 99 insertions(+), 3 deletions(-)

diff --git a/selfdrive/c3_client.py b/selfdrive/c3_client.py
index be213a939..c8dfa9dd4 100755
--- a/selfdrive/c3_client.py
+++ b/selfdrive/c3_client.py
@@ -254,7 +254,7 @@ class _WebSocketClient:
 # ================= 配置 =================
 SERVER_URL = "ws://1.15.136.221:8500"
 HEARTBEAT_INTERVAL = 5
-RECONNECT_DELAY = 5
+RECONNECT_DELAY = 1
 
 # ================= 设备标识 =================
 _params = Params()
@@ -283,6 +283,21 @@ def get_device_type():
   except Exception:
     return ""
 
+def get_lan_ip():
+  """获取设备局域网 IP 地址"""
+  try:
+    result = subprocess.run(
+      ["hostname", "-I"],
+      capture_output=True, text=True, timeout=3
+    )
+    ip = result.stdout.strip().split()[0] if result.returncode == 0 else ""
+    # 排除 127.0.0.1
+    if ip and not ip.startswith("127."):
+      return ip
+    return ""
+  except Exception:
+    return ""
+
 
 def get_git_branch():
   try:
@@ -539,6 +554,83 @@ async def execute_update_oneclick():
     return {"status": "error", "output": f"一键更新失败: {e}"}
 
 
+# ================= 截图 =================
+def _raw_rgb888_to_png(w, h, data_rgb):
+  """将 RGB888 原始像素数据编码为 PNG（纯标准库，无需 PIL/numpy）"""
+  import struct, zlib
+  raw = b""
+  for y in range(h):
+    raw += b"\x00"  # filter byte
+    row_start = y * w * 3
+    raw += data_rgb[row_start:row_start + w * 3]
+  
+  def chunk(ctype, cdata):
+    c = ctype + cdata
+    return struct.pack(">I", len(cdata)) + c + struct.pack(">I", zlib.crc32(c) & 0xffffffff)
+  
+  sig = b"\x89PNG\r\n\x1a\n"
+  ihdr = struct.pack(">IIBBBBB", w, h, 8, 2, 0, 0, 0)  # 8bit RGB
+  idat = zlib.compress(raw)
+  iend = b""
+  
+  return sig + chunk(b"IHDR", ihdr) + chunk(b"IDAT", idat) + chunk(b"IEND", iend)
+
+
+async def execute_snapshot():
+  """截取设备屏幕画面，返回 base64 编码的 PNG"""
+  import base64, subprocess, os
+  
+  # 方法1: 检查有没有已存在的 screenshot 文件
+  exists = os.path.exists("/tmp/screenshot.png") or os.path.exists("/data/screenshot.png")
+  if exists:
+    path = "/tmp/screenshot.png" if os.path.exists("/tmp/screenshot.png") else "/data/screenshot.png"
+    with open(path, "rb") as f:
+      b64 = base64.b64encode(f.read()).decode()
+    return {"status": "ok", "output": b64}
+  
+  # 方法2: 执行 screencap
+  r = subprocess.run(["screencap", "-p"], capture_output=True, timeout=5)
+  if r.returncode == 0 and len(r.stdout) > 100:
+    return {"status": "ok", "output": base64.b64encode(r.stdout).decode()}
+  
+  # 方法3: 从 /dev/fb0 帧缓冲读取
+  if os.path.exists("/dev/fb0"):
+    try:
+      fb_size = os.path.getsize("/dev/fb0")
+      with open("/dev/fb0", "rb") as fb:
+        fb_data = fb.read()
+      if fb_data and fb_size % 4 == 0:
+        # 尝试获取分辨率
+        import struct
+        w, h = 0, 0
+        if os.path.exists("/sys/class/graphics/fb0/virtual_size"):
+          with open("/sys/class/graphics/fb0/virtual_size") as f:
+            parts = f.read().strip().split(",")
+            if len(parts) == 2:
+              w, h = int(parts[0]), int(parts[1])
+        if w <= 0 or h <= 0:
+          # 常见分辨率探测
+          for fw, fh in [(2160, 1080), (1920, 1080), (1280, 720), (480, 320)]:
+            if fb_size == fw * fh * 4:
+              w, h = fw, fh
+              break
+        if w > 0 and h > 0 and len(fb_data) >= w * h * 4:
+          pixels = fb_data[:w * h * 4]
+          # BGRA8888 -> RGB888
+          rgb = bytearray(w * h * 3)
+          for i in range(w * h):
+            offset4 = i * 4
+            offset3 = i * 3
+            rgb[offset3] = pixels[offset4 + 2]      # R
+            rgb[offset3 + 1] = pixels[offset4 + 1]  # G
+            rgb[offset3 + 2] = pixels[offset4]      # B
+          png_data = _raw_rgb888_to_png(w, h, bytes(rgb))
+          return {"status": "ok", "output": base64.b64encode(png_data).decode()}
+    except Exception:
+      pass
+  
+  return {"status": "error", "output": "设备不支持截图"}
+
 # ================= 消息处理 =================
 async def handle_message(data, ws):
   msg_type = data.get("type")
@@ -556,6 +648,8 @@ async def handle_message(data, ws):
     result = await execute_update_oneclick()
   elif msg_type == "msgq":
     result = await execute_messaging()
+  elif msg_type == "snapshot":
+    result = await execute_snapshot()
 
   else:
     result = {"status": "error", "output": f"未知指令类型: {msg_type}"}
@@ -579,8 +673,9 @@ async def run():
   git_branch = get_git_branch()
   car_platform = get_car_platform()
   device_type = get_device_type()
+  lan_ip = get_lan_ip()
 
-  print(f"[C3 Director Client] 启动 serial={serial} branch={git_branch} platform={car_platform}")
+  print(f"[C3 Director Client] 启动 serial={serial} branch={git_branch} platform={car_platform} lan_ip={lan_ip}")
 
   while True:
     try:
@@ -597,7 +692,8 @@ async def run():
           "dongle_id": dongle_id,
           "git_branch": git_branch,
           "car_platform": car_platform,
-          "device_type": device_type
+          "device_type": device_type,
+          "lan_ip": lan_ip
         })
         await ws.send(register_msg)
         print(f"[C3] 已注册: {serial} branch={git_branch} type={device_type}")