test: new camera

test_ai_camera_integration.py

@@ -0,0 +1,68 @@
+#!/usr/bin/env python3
+"""
+测试AI相机集成的脚本
+"""
+
+import sys
+import os
+sys.path.append(os.path.dirname(os.path.abspath(__file__)))
+
+from utils.image_raw import ImageProcessor
+import time
+
+def test_ai_camera_integration():
+    """测试AI相机集成功能"""
+    print("开始测试AI相机集成...")
+    
+    try:
+        # 创建图像处理器实例
+        processor = ImageProcessor()
+        print("✓ 图像处理器创建成功")
+        
+        # 启动处理器
+        processor.run()
+        print("✓ 图像处理器启动成功")
+        
+        # 等待一段时间让相机启动
+        print("等待相机启动...")
+        time.sleep(3)
+        
+        # 测试获取图像
+        image = processor.get_current_image()
+        if image is not None:
+            print(f"✓ 成功获取图像，尺寸: {image.shape}")
+        else:
+            print("⚠ 未获取到图像")
+        
+        # 测试异步QR码扫描
+        print("启动异步QR码扫描...")
+        processor.start_async_scan(interval=1.0)
+        
+        # 运行一段时间
+        print("运行10秒进行测试...")
+        time.sleep(10)
+        
+        # 停止扫描
+        processor.stop_async_scan()
+        print("✓ 异步扫描已停止")
+        
+        # 获取QR码结果
+        qr_result, qr_time = processor.get_last_qr_result()
+        if qr_result:
+            print(f"✓ 扫描到QR码: {qr_result}")
+        else:
+            print("ℹ 未扫描到QR码")
+        
+        # 清理资源
+        processor.destroy()
+        print("✓ 资源清理完成")
+        
+        print("测试完成！")
+        
+    except Exception as e:
+        print(f"❌ 测试失败: {e}")
+        import traceback
+        traceback.print_exc()
+
+if __name__ == "__main__":
+    test_ai_camera_integration()

utils/image_raw.py

@@ -5,33 +5,81 @@ from rclpy.node import Node
 from sensor_msgs.msg import Image
 from cv_bridge import CvBridge
 import cv2
-from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy
 # from qreader import QReader
 from threading import Thread, Lock
 import time
 import queue
 from utils.log_helper import get_logger
+# 导入AI相机服务
+from protocol.srv import CameraService
 
 
 class ImageSubscriber(Node):
     def __init__(self):
         super().__init__('image_subscriber')
-        # 定义 QoS 配置（匹配发布者的可靠性策略）
+        
-        qos_profile = QoSProfile(
+        # 创建AI相机服务客户端
-            reliability=QoSReliabilityPolicy.BEST_EFFORT,  # 或 BEST_EFFORT，取决于发布者
+        self.camera_client = self.create_client(
-            history=QoSHistoryPolicy.KEEP_LAST,
+            CameraService, 
-            depth=10
+            '/camera_service'
         )
-
+        
-        self.subscription = self.create_subscription(
+        # 等待服务可用
+        while not self.camera_client.wait_for_service(timeout_sec=1.0):
+            self.get_logger().info('AI相机服务不可用，等待中...')
+        
+        # 订阅AI相机图像话题
+        self.image_subscription = self.create_subscription(
             Image,
-            '/rgb_camera/image_raw',
+            '/image',
             self.image_callback,
-            qos_profile=qos_profile
+            10
         )
-        self.subscription  # 防止未使用变量警告
+        
         self.bridge = CvBridge()
         self.cv_image = None  # Store latest image
+        self.camera_started = False
+        
+        # 启动AI相机
+        self.start_camera()
+
+    def start_camera(self):
+        """启动AI相机"""
+        req = CameraService.Request()
+        req.command = 9  # START_IMAGE_PUBLISH
+        req.width = 640  # 图像宽度
+        req.height = 480 # 图像高度
+        req.fps = 30     # 帧率
+        
+        future = self.camera_client.call_async(req)
+        rclpy.spin_until_future_complete(self, future)
+        
+        if future.result().result == 0:  # RESULT_SUCCESS
+            self.get_logger().info('AI相机已启动')
+            self.camera_started = True
+            return True
+        else:
+            self.get_logger().error(f'启动AI相机失败: {future.result().msg}')
+            return False
+
+    def stop_camera(self):
+        """停止AI相机"""
+        if not self.camera_started:
+            return True
+            
+        req = CameraService.Request()
+        req.command = 10  # STOP_IMAGE_PUBLISH
+        
+        future = self.camera_client.call_async(req)
+        rclpy.spin_until_future_complete(self, future)
+        
+        if future.result().result == 0:  # RESULT_SUCCESS
+            self.get_logger().info('AI相机已停止')
+            self.camera_started = False
+            return True
+        else:
+            self.get_logger().error(f'停止AI相机失败: {future.result().msg}')
+            return False
 
     def image_callback(self, msg):
         try:
@@ -75,6 +123,8 @@ class ImageProcessor:
         self.stop_async_scan()
         if self.spin_thread:
             self.spin_thread.join()
+        # 停止AI相机
+        self.image_subscriber.stop_camera()
         self.image_subscriber.destroy_node()
 
     def get_current_image(self):
@@ -162,6 +212,7 @@ def main(args=None):
         pass
     
     # 清理
+    image_subscriber.stop_camera()
     image_subscriber.destroy_node()