Havoc420mac/mi-task
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

fix: up

Browse Source
This commit is contained in:
havocrao 2025-08-20 11:31:27 +08:00
parent c85496c08a
commit 1ba780672c
3 changed files with 21 additions and 30 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
captured_images/dual_path/image_info_20250817_144238.txt
View File

@ -1,8 +0,0 @@
图像信息记录 - 20250817_144238
图像尺寸: 1920 x 1080
编码格式: rgb8
步长: 5760
数据大小: 6220800 字节
ROS节点: simple_image_subscriber
话题: /rgb_camera/image_raw
图像数据已成功接收，ROS模块工作正常!

1
task_1/task_1.py
View File

@ -21,7 +21,6 @@ from utils.log_helper import LogHelper, get_logger, section, info, debug, warnin
logger = get_logger("任务1")
observe = True
direction = True
def run_task_1(ctrl, msg, time_sleep=5000):

42
utils/image_raw.py
View File

@ -63,7 +63,6 @@ from threading import Thread, Lock
import time
import queue
from datetime import datetime
from utils.log_helper import get_logger
# 导入AI相机服务
from protocol.srv import CameraService
# qrcode
@ -81,7 +80,8 @@ class ImageSubscriber(Node):
# 创建服务客户端
self.camera_client = self.create_client(CameraService, '/camera_service')
while not self.camera_client.wait_for_service(timeout_sec=1.0):
self.get_logger().info('等待AI相机服务...')
print('waiting for camera service...')
# self.get_logger().info('等待AI相机服务...')
# 图像订阅
self.image_sub = self.create_subscription(
@ -137,14 +137,14 @@ class ImageSubscriber(Node):
rclpy.spin_until_future_complete(self, future)
result = future.result()
self.get_logger().info(f'服务返回: [code={result.result}, msg="{result.msg}"]')
print(f'服务返回: [code={result.result}, msg="{result.msg}"]')
if result.result == 0:
self.get_logger().info('相机启动成功')
print('相机启动成功')
self.camera_started = True
return True
else:
self.get_logger().error(f'启动失败 (错误码 {result.result})')
print(f'启动失败 (错误码 {result.result})')
return False
def stop_camera(self):
@ -160,14 +160,14 @@ class ImageSubscriber(Node):
rclpy.spin_until_future_complete(self, future, timeout_sec=2.0)
if future.result().result == 0:
self.get_logger().info('相机已停止')
print('相机已停止')
self.camera_started = False
return True
else:
self.get_logger().error(f'停止失败: {future.result().msg}')
print(f'停止失败: {future.result().msg}')
return False
except Exception as e:
self.get_logger().error(f'停止异常: {str(e)}')
print(f'停止异常: {str(e)}')
return False
def save_image(self, image, prefix):
@ -179,10 +179,10 @@ class ImageSubscriber(Node):
timestamp = datetime.now().strftime("%Y%m%d_%H%M%S_%f")
filename = f"{self.save_dir}/{prefix}_{timestamp}.jpg"
cv2.imwrite(filename, image)
# self.get_logger().info(f"已保存 {prefix} 图像: {filename}")
print(f"已保存 {prefix} 图像: {filename}")
return True
except Exception as e:
self.get_logger().error(f"保存{prefix}图像失败: {str(e)}")
print(f"保存{prefix}图像失败: {str(e)}")
return False
def image_callback_rgb(self, msg):
@ -200,7 +200,7 @@ class ImageSubscriber(Node):
self.save_image(self.cv_image_rgb, 'rgb')
self.last_save_time['rgb'] = time.time()
except Exception as e:
self.get_logger().error(f"RGB图像处理错误: {str(e)}")
print(f"RGB图像处理错误: {str(e)}")
def image_callback_left(self, msg):
try:
@ -209,7 +209,7 @@ class ImageSubscriber(Node):
self.save_image(self.cv_image_left, 'left')
self.last_save_time['left'] = time.time()
except Exception as e:
self.get_logger().error(f"左图像处理错误: {str(e)}")
print(f"左图像处理错误: {str(e)}")
def image_callback_right(self, msg):
try:
@ -218,7 +218,7 @@ class ImageSubscriber(Node):
self.save_image(self.cv_image_right, 'right')
self.last_save_time['right'] = time.time()
except Exception as e:
self.get_logger().error(f"右图像处理错误: {str(e)}")
print(f"右图像处理错误: {str(e)}")
def image_callback_ai(self, msg):
try:
@ -227,7 +227,7 @@ class ImageSubscriber(Node):
self.save_image(self.cv_image_ai, 'ai')
self.last_save_time['ai'] = time.time()
except Exception as e:
self.get_logger().error(f"ai图像处理错误: {str(e)}")
print(f"ai图像处理错误: {str(e)}")
def safe_spin(self):
"""安全spin循环"""
@ -367,7 +367,7 @@ class ImageProcessor:
"""
if self.scan_thread is not None and self.scan_thread.is_alive():
# self.log.warning("异步扫描已经在运行中", "警告")
print('scan,warn')
print('[ImageProcessor] scan,warn')
return
self.enable_async_scan = True
@ -376,7 +376,7 @@ class ImageProcessor:
self.scan_thread.daemon = True # 设为守护线程，主线程结束时自动结束
self.scan_thread.start()
# self.log.info("启动异步 QR 码扫描线程", "启动")
print('start')
print('[ImageProcessor] start async scan')
def stop_async_scan(self):
"""停止异步 QR 码扫描"""
@ -384,7 +384,7 @@ class ImageProcessor:
if self.scan_thread and self.scan_thread.is_alive():
self.scan_thread.join(timeout=1.0)
# self.log.info("异步 QR 码扫描线程已停止", "停止")
print('stop')
print('[ImageProcessor] stop async scan')
def _async_scan_worker(self, interval):
"""异步扫描工作线程"""
@ -400,7 +400,7 @@ class ImageProcessor:
try:
self.is_scanning = True
qr_data = self.decode_all_qrcodes(img)
print(qr_data)
print(f"[ImageProcessor] 异步扫描到 QR 码: {qr_data}")
self.is_scanning = False
with self.scan_lock:
@ -408,13 +408,13 @@ class ImageProcessor:
self.last_qr_result = qr_data
self.last_qr_time = current_time
# self.log.success(f"异步扫描到 QR 码: {qr_data}", "扫描")
print(f"异步扫描到 QR 码: {qr_data}")
print(f"[ImageProcessor] 异步扫描到 QR 码: {qr_data}")
except Exception as e:
self.is_scanning = False
# self.log.error(f"异步 QR 码扫描出错: {e}", "错误")
print(f"异步 QR 码扫描出错: {e}")
print(f"[ImageProcessor] 异步 QR 码扫描出错: {e}")
else:
print('no img')
print('[ImageProcessor] no img')
last_scan_time = current_time