在图像处理器中引入日志记录功能，替换了多个打印语句为日志记录，增强了错误和状态信息的可追踪性。调整了异步扫描的启动和停止逻辑，确保更好的错误处理和信息反馈。

utils/image_raw.py

@@ -10,6 +10,7 @@ from qreader import QReader
 from threading import Thread, Lock
 import time
 import queue
+from utils.log_helper import get_logger
 
 
 class ImageSubscriber(Node):
@@ -47,6 +48,7 @@ class ImageProcessor:
         self.qreader = QReader()
         self.spin_thread = None
         self.running = True
+        self.log = get_logger("图像处理器")
         
         # 异步 QR 码扫描相关
         self.scan_thread = None
@@ -66,7 +68,7 @@ class ImageProcessor:
             while self.running:
                 rclpy.spin_once(self.image_subscriber, timeout_sec=0.1)
         except Exception as e:
-            print(f"Spin thread error: {e}")
+            self.log.error(f"Spin线程错误: {e}", "错误")
     
     def destroy(self):
         self.running = False
@@ -94,7 +96,7 @@ class ImageProcessor:
             interval: 扫描间隔，单位秒
         """
         if self.scan_thread is not None and self.scan_thread.is_alive():
-            print("异步扫描已经在运行中")
+            self.log.warning("异步扫描已经在运行中", "警告")
             return
         
         self.enable_async_scan = True
@@ -102,14 +104,14 @@ 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()
-        print("启动异步 QR 码扫描线程")
+        self.log.info("启动异步 QR 码扫描线程", "启动")
     
     def stop_async_scan(self):
         """停止异步 QR 码扫描"""
         self.enable_async_scan = False
         if self.scan_thread and self.scan_thread.is_alive():
             self.scan_thread.join(timeout=1.0)
-            print("异步 QR 码扫描线程已停止")
+            self.log.info("异步 QR 码扫描线程已停止", "停止")
     
     def _async_scan_worker(self, interval):
         """异步扫描工作线程"""
@@ -131,10 +133,10 @@ class ImageProcessor:
                             if qr_data:
                                 self.last_qr_result = qr_data
                                 self.last_qr_time = current_time
-                                print(f"异步扫描到 QR 码: {qr_data}")
+                                self.log.success(f"异步扫描到 QR 码: {qr_data}", "扫描")
                     except Exception as e:
                         self.is_scanning = False
-                        print(f"异步 QR 码扫描出错: {e}")
+                        self.log.error(f"异步 QR 码扫描出错: {e}", "错误")
                 
                 last_scan_time = current_time