feat: close image save

main.py

@@ -80,7 +80,6 @@ def main():
         Ctrl.base_msg.stand_up()
         Ctrl.base_msg.stop()  # BUG 垃圾指令 for eat # INFO 但是正式比赛或许也有用
         
-        
         # image = Ctrl.image_processor.get_current_image('ai')
         # timestamp = datetime.now().strftime("%Y%m%d_%H%M%S_%f")
         # filename = f"saved_images/rgb_{timestamp}.jpg"
@@ -136,7 +135,7 @@ def main():
         # run_task_2_5(Ctrl, msg, direction=arrow_direction)
 
 
-        # #TAG task - 3 / 4 - part I
+        #TAG task - 3 / 4 - part I
         # if arrow_direction == 'left':
         #     run_task_4(Ctrl, msg)
         # else:
@@ -145,7 +144,7 @@ def main():
 
         # TAG task - 5
         # turn_degree_v2(Ctrl, msg, degree=90, absolute=True)
-        success, qr=run_task_5(Ctrl, msg, direction=arrow_direction, observe=True, time_sleep=TIME_SLEEP)  # B区任务
+        # success, qr=run_task_5(Ctrl, msg, direction=arrow_direction, observe=True, time_sleep=TIME_SLEEP)  # B区任务
         # print(success)
         # print(qr)
 
@@ -208,7 +207,7 @@ class Robot_Ctrl(object):
         self.cmd_msg = robot_control_cmd_lcmt()
         self.rec_msg = robot_control_response_lcmt()
         self.odo_msg = localization_lcmt()
-        self.image_processor = ImageProcessor()
+        self.image_processor = ImageProcessor(save_flag=False) # INFO 这里控制是否开始保存图片
         # DEBUG
         # self.marker_runner = MarkerRunner(pass_flag=pass_marker)
         self.send_lock = Lock()

task_1/task_1.py

@@ -20,7 +20,7 @@ from utils.speech_demo import speak
 # 创建本模块特定的日志记录器
 logger = get_logger("任务1")
 
-observe = True
+observe = False  # 控制是否输出更多调试信息
 direction = True
 
 def run_task_1(ctrl, msg, time_sleep=5000):

task_2/crawl_gait.py

@@ -17,7 +17,7 @@ from file_send_lcmt import file_send_lcmt
 # 创建本模块特定的日志记录器
 logger = get_logger("低头匍匐步态")
 
-observe = True
+observe = False
 
 robot_cmd = {
     'mode':0, 'gait_id':0, 'contact':0, 'life_count':0,

task_2/task_2.py

@@ -33,7 +33,7 @@ from task_2.crawl_gait import (
 # 创建本模块特定的日志记录器
 logger = get_logger("任务2-5")
 
-observe = True
+observe = False
 
 # 异步箭头检测器类
 class AsyncArrowDetector:
@@ -148,7 +148,6 @@ class AsyncArrowDetector:
             return self.left_count, self.right_count
 
 def run_task_2(ctrl, msg, xy_flag=False):
-    
     # 微调 xy 和角度
     # go_to_xy_v2(ctrl, msg, 0.9, 0.25, speed=0.5, observe=True)
     # turn_degree_v2(ctrl, msg, 0.8, absolute=True)

task_2_5/task_2_5.py

@@ -10,7 +10,7 @@ from base_move.go_to_xy import go_straight, go_to_x_v2, go_to_y_v2
 from base_move.move_base_hori_line import arc_turn_around_hori_line, align_to_horizontal_line
 from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing
 
-observe = True
+observe = False
 
 def run_task_2_5(Ctrl, msg, direction='left'):
     section('任务2.5：预备进入任务3', "启动")

task_3/task_3.py

@@ -26,7 +26,7 @@ from utils.speech_demo import speak
 # 创建本模块特定的日志记录器
 logger = get_logger("任务3")
 
-observe = True
+observe = False
 YELLOW_RATIO_THRESHOLD = 0.03  # TODO 黄色区域比例阈值
 
 def run_task_3(ctrl, msg, time_sleep=5000):

task_4/pass_bar.py

@@ -19,7 +19,7 @@ from file_send_lcmt import file_send_lcmt
 # 创建本模块特定的日志记录器
 logger = get_logger("任务3")
 
-observe = True
+observe = False
 
 robot_cmd = {
     'mode':0, 'gait_id':0, 'contact':0, 'life_count':0,

task_4/task_4.py

@@ -22,7 +22,7 @@ from task_3.task_3 import pass_stone
 # 创建本模块特定的日志记录器
 logger = get_logger("任务4")
 
-observe = True
+observe = False
 
 STONE_DISTANCE = 4.5  # TODO 距离参数需要微调
 RED_RATIO_THRESHOLD = 0.18  # TODO 红色区域比例阈值需要微调

test/test_track_detection.py

@@ -105,7 +105,7 @@ def test_track_detection(image_path, observe=True, save_log=True):
 
 if __name__ == "__main__":
     # 设置观察模式和保存日志
-    observe = True
+    observe = False
     save_log = True
     
     if len(sys.argv) > 1:

utils/image_raw.py

@@ -73,7 +73,7 @@ from pyzbar import pyzbar
 
 
 class ImageSubscriber(Node):
-    def __init__(self):
+    def __init__(self, save_flag=False):
         super().__init__('ai_camera_demo')
         
         # 初始化安全控制标志
@@ -118,6 +118,7 @@ class ImageSubscriber(Node):
             'ai': time.time()
         }
         self.start_time = time.time()
+        self.save_flag = save_flag
         self.save_interval = 0.5
         self.total_duration = 1.0
         self.save_dir = "saved_images"
@@ -198,7 +199,7 @@ class ImageSubscriber(Node):
         
         try:
             self.cv_image_rgb = self.bridge.imgmsg_to_cv2(msg, 'bgr8')
-            if time.time() - self.last_save_time['rgb'] >= self.save_interval:
+            if self.save_flag and time.time() - self.last_save_time['rgb'] >= self.save_interval:
                 self.save_image(self.cv_image_rgb, 'rgb')
                 self.last_save_time['rgb'] = time.time()
         except Exception as e:
@@ -225,7 +226,7 @@ class ImageSubscriber(Node):
     def image_callback_ai(self, msg):
         try:
             self.cv_image_ai = self.bridge.imgmsg_to_cv2(msg, 'bgr8')
-            if time.time() - self.last_save_time['ai'] >= self.save_interval:
+            if self.save_flag and time.time() - self.last_save_time['ai'] >= self.save_interval:
                 self.save_image(self.cv_image_ai, 'ai')
                 self.last_save_time['ai'] = time.time()
         except Exception as e:
@@ -275,8 +276,8 @@ class ImageSubscriber(Node):
 
 
 class ImageProcessor:
-    def __init__(self):
-        self.image_subscriber = ImageSubscriber()
+    def __init__(self, save_flag=False):
+        self.image_subscriber = ImageSubscriber(save_flag=save_flag)
         self.spin_thread = None
         self.running = True
         self.log = get_logger("图像处理器")
@@ -389,7 +390,7 @@ 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('scan, warn')
             return
         
         self.enable_async_scan = True