feat: qrcode 默认采用 ai 相机

utils/image_raw.py

@@ -57,7 +57,6 @@ class ImageSubscriber(Node):
         self.image_sub_ai= self.create_subscription(
             Image, '/image', self.image_callback_ai, 10
         )
-        
 
         # 工具初始化
         self.bridge = CvBridge()
@@ -144,7 +143,6 @@ class ImageSubscriber(Node):
             self.get_logger().error(f"保存{prefix}图像失败: {str(e)}")
             return False
 
-
     def image_callback_rgb(self, msg):
         # """安全的图像回调"""
         # if getattr(self, '_shutdown_flag', False):
@@ -162,9 +160,6 @@ class ImageSubscriber(Node):
         except Exception as e:
             self.get_logger().error(f"RGB图像处理错误: {str(e)}")
 
-
-
-
     def image_callback_left(self, msg):
         try:
             self.cv_image_left = self.bridge.imgmsg_to_cv2(msg, 'bgr8')
@@ -192,7 +187,6 @@ class ImageSubscriber(Node):
         except Exception as e:
             self.get_logger().error(f"ai图像处理错误: {str(e)}")
 
-
     def safe_spin(self):
         """安全spin循环"""
         while rclpy.ok() and not getattr(self, '_shutdown_flag', False):
@@ -251,7 +245,7 @@ class ImageProcessor:
         self.image_subscriber.stop_camera()
         self.image_subscriber.destroy_node()
 
-    def get_current_image(self,text):
+    def get_current_image(self, text):
         if text=='ai':
             return self.image_subscriber.cv_image_ai
         if text=='left':
@@ -265,7 +259,7 @@ class ImageProcessor:
     def decode_all_qrcodes(self, img=None):
         """使用pyzbar解码QR码"""
         if img is None:
-            img = self.get_current_image()
+            img = self.get_current_image('ai')
             if img is None:
                 return None
             
@@ -317,7 +311,7 @@ class ImageProcessor:
             interval: 扫描间隔，单位秒
         """
         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")
+            self.log.warning("异步扫描已经在运行中", "警告")
             print('scan,warn')
             return
         
@@ -326,7 +320,7 @@ class ImageProcessor:
         self.scan_thread = Thread(target=self._async_scan_worker, args=(interval,))
         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")
+        self.log.info("启动异步 QR 码扫描线程", "启动")
         print('start')
     
     def stop_async_scan(self):
@@ -334,7 +328,7 @@ class ImageProcessor:
         self.enable_async_scan = False
         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")
+            self.log.info("异步 QR 码扫描线程已停止", "停止")
             print('stop')
     
     def _async_scan_worker(self, interval):
@@ -346,7 +340,7 @@ class ImageProcessor:
             
             # 按指定间隔扫描
             if current_time - last_scan_time >= interval:
-                img = self.get_current_image()
+                img = self.get_current_image('ai')
                 if img is not None:
                     try:
                         self.is_scanning = True
@@ -358,11 +352,11 @@ class ImageProcessor:
                             if qr_data:
                                 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")
+                                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}")
                     except Exception as e:
                         self.is_scanning = False
-                        # self.log.error(f"异步 QR 码扫描出错: {e}", "错误")
+                        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}")
                 else:
                     print('no img')