From 4449dc62d19438a10391a305f4362fec92eb56ad Mon Sep 17 00:00:00 2001
From: Mori <1625251923@qq.com>
Date: Wed, 20 Aug 2025 20:59:09 +0800
Subject: [PATCH] fix up by cursor

---
 .vscode/settings.json |  3 +++
 main.py               |  6 ++++--
 utils/image_raw.py    | 35 +++++++++++++++++++++++------------
 3 files changed, 30 insertions(+), 14 deletions(-)
 create mode 100644 .vscode/settings.json

diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..9ddf6b2
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,3 @@
+{
+    "cmake.ignoreCMakeListsMissing": true
+}
\ No newline at end of file
diff --git a/main.py b/main.py
index fd5cf0b..cd2a156 100755
--- a/main.py
+++ b/main.py
@@ -165,7 +165,6 @@ def main():
         print("\n程序被用户中断")
     except Exception as e:
         import traceback
-        import sys
         exc_type, exc_value, exc_tb = sys.exc_info()
         tb = traceback.extract_tb(exc_tb)
         if tb:
@@ -300,7 +299,10 @@ class Robot_Ctrl(object):
         self.runing = 0
         self.rec_thread.join()
         self.send_thread.join()
-        # self.image_processor.destroy()
+        try:
+            self.image_processor.destroy()
+        except Exception as e:
+            print(f"销毁图像处理器失败: {e}")
         # 销毁 MarkerRunner
         if hasattr(self, 'marker_runner') and self.marker_runner is not None:
             try:
diff --git a/utils/image_raw.py b/utils/image_raw.py
index a7b4de6..217cfcf 100755
--- a/utils/image_raw.py
+++ b/utils/image_raw.py
@@ -255,7 +255,7 @@ class ImageProcessor:
         self.image_subscriber = ImageSubscriber()
         self.spin_thread = None
         self.running = True
-        # self.log = get_logger("图像处理器")
+        self.log = get_logger("图像处理器")
         
         # 异步 QR 码扫描相关
         self.scan_thread = None
@@ -288,17 +288,28 @@ class ImageProcessor:
     #     self.image_subscriber.destroy_node()
 
     def destroy(self):
-        if not self._ros_initialized:
-            return
-            
-        self._shutdown_flag = True
-        if self.spin_thread:
-            self.spin_thread.join(timeout=1.0)
-            
-        self.image_subscriber.stop_camera()
-        self.image_subscriber.destroy_node()
-        rclpy.shutdown()
-        self._ros_initialized = False
+        """优雅关闭：停止扫描与spin线程，释放ROS资源（不在此shutdown全局）。"""
+        try:
+            self.running = False
+            self.stop_async_scan()
+        except Exception:
+            pass
+
+        try:
+            if self.spin_thread and self.spin_thread.is_alive():
+                self.spin_thread.join(timeout=1.0)
+        except Exception:
+            pass
+
+        try:
+            self.image_subscriber.stop_camera()
+        except Exception:
+            pass
+
+        try:
+            self.image_subscriber.destroy_node()
+        except Exception:
+            pass
 
     def get_current_image(self, text = 'rgb'):
         # INFO 默认返回 rgb 图像