fix: 摄像头亮度默认夜间

scripts/dev/README.md

@@ -24,10 +24,11 @@ If your `robot-command-center` is elsewhere, set `ROBOT_COMMAND_CENTER_ROOT` in
 - `robot-remote.env`: shared defaults for backend, frontend, ROS, and `b_side_omnid`
 - `robot-remote.env.local`: optional local override file loaded after `robot-remote.env`
 - `load-env.sh`: loads the shared environment into the current shell
+- `apply-camera-controls.sh`: applies the camera preset before `b_side_omnid` starts
 - `start-backend.sh`: starts Django ASGI with `uvicorn`
 - `start-frontend.sh`: starts the Vite dev server
 - `start-ros-receiver.sh`: starts the ROS2 `udp_teleop_bridge` receiver
-- `start-b-side-omnid.sh`: starts `./bin/b_side_omnid` and uses `sudo -E` by default
+- `start-b-side-omnid.sh`: applies camera controls, then starts `./bin/b_side_omnid` and uses `sudo -E` by default
 - `start-dev-tmux.sh`: optional one-command `tmux` launcher for all four processes
 
 ## Usage
@@ -69,6 +70,10 @@ Edit `scripts/dev/robot-remote.env` for shared changes such as:
 - `ROBOT_SIDE_OMNISOCKET_RELAY_VIA`
 - `VITE_API_BASE_URL`
 - `OMNI_CAMERA_DEVICE`
+- `OMNI_CAMERA_PROFILE`
+- `OMNI_CAMERA_BRIGHTNESS`
+- `OMNI_CAMERA_CUSTOM_CTRL`
+- `OMNI_CAMERA_VERIFY`
 - `OMNI_VIDEO_PEER_ID`
 - `OMNI_CONTROL_PEER_ID`
 - `OMNI_VIDEO_SOFT_BACKPRESSURE_SEGMENTS`
@@ -77,10 +82,13 @@ Edit `scripts/dev/robot-remote.env` for shared changes such as:
 - `OMNI_CONTROL_SERVER_IDLE_RECONNECT_MS`
 - `OMNI_VIDEO_MAX_FRAME_AGE_MS`
 
+Camera presets use `v4l2-ctl` from `v4l-utils` on the robot side.
+
 Role mapping:
 
 - `start-backend.sh` uses the `CONTROL_SIDE_*` address pair
 - `start-b-side-omnid.sh` uses the `ROBOT_SIDE_*` address pair
+- `start-b-side-omnid.sh` also applies the `OMNI_CAMERA_*` preset before the daemon opens the camera
 - `start-ros-receiver.sh` defaults to the robot-side address pair, but with `transport=unix_dgram` it usually does not need the server address
 
 New repair knobs:
@@ -96,3 +104,26 @@ ROBOT_COMMAND_CENTER_ROOT="$HOME/Documents/robot-command-center"
 OMNI_CAMERA_DEVICE="/dev/video30"
 B_SIDE_OMNID_USE_SUDO="0"
 ```
+
+Default camera behavior is the `night` preset:
+
+```bash
+OMNI_CAMERA_PROFILE="night"
+# Optional per-machine tweak:
+OMNI_CAMERA_BRIGHTNESS="8"
+```
+
+To switch to a daytime preset with brightness only:
+
+```bash
+OMNI_CAMERA_PROFILE="day"
+OMNI_CAMERA_BRIGHTNESS="8"
+```
+
+To send the raw `v4l2-ctl --set-ctrl=...` payload yourself:
+
+```bash
+OMNI_CAMERA_PROFILE="custom"
+OMNI_CAMERA_CUSTOM_CTRL="brightness=8,auto_exposure=1,exposure_time_absolute=800,gain=64"
+OMNI_CAMERA_VERIFY="1"
+```