fix: up

captured_images/dual_path/image_info_20250817_144238.txt

@@ -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!

task_1/task_1.py

@@ -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):

utils/image_raw.py

@@ -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