robopark 2.8.19 → 2.8.21

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "robopark",
-  "version": "2.8.19",
+  "version": "2.8.21",
   "description": "RoboPark fleet control CLI — set up, watch, and drive a fleet of talking robots. The operator front-end over the infinicode mesh.",
   "type": "module",
   "bin": {

package/vision/app_pi_clean.py

@@ -3,6 +3,7 @@ from flask_cors import CORS
 import argparse
 import cv2
 import os
+import sys
 import time
 import numpy as np
 import threading
@@ -16,10 +17,22 @@ CORS(app)
 current_camera_index = 0
 camera = None
 
+def _open_camera(index):
+    # On Windows, cv2.VideoCapture(index) with no explicit backend can
+    # auto-probe into an unrelated backend (e.g. Orbbec's "obsensor") that
+    # fails with "Camera index out of range" for a perfectly normal UVC
+    # webcam — isOpened() then stays False forever and callers retry in an
+    # infinite doomed loop. Force DirectShow, the backend that actually
+    # enumerates standard Windows webcams.
+    if sys.platform == 'win32':
+        return cv2.VideoCapture(index, cv2.CAP_DSHOW)
+    return cv2.VideoCapture(index)
+
+
 def get_camera():
     global camera, current_camera_index
     if camera is None or not camera.isOpened():
-        camera = cv2.VideoCapture(current_camera_index)
+        camera = _open_camera(current_camera_index)
         camera.set(cv2.CAP_PROP_FRAME_WIDTH, 640)
         camera.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
         print(f"Camera {current_camera_index} initialized")
@@ -223,7 +236,7 @@ def caption_mode():
 def list_cameras():
     available = []
     for i in range(4):
-        cap = cv2.VideoCapture(i)
+        cap = _open_camera(i)
         if cap.isOpened():
             available.append({"index": i, "name": f"Camera {i}"})
             cap.release()