Havoc420mac/mi-task
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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。

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Havoc 2025-05-31 22:38:35 +08:00
parent b392453b62
commit a2fd2daff1
1 changed files with 8 additions and 6 deletions
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14
utils/image_raw.py
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@ -10,6 +10,7 @@ from qreader import QReader
from threading import Thread, Lock from threading import Thread, Lock
import time import time
import queue import queue
from utils.log_helper import get_logger
class ImageSubscriber(Node): class ImageSubscriber(Node):
@ -47,6 +48,7 @@ class ImageProcessor:
self.qreader = QReader() self.qreader = QReader()
self.spin_thread = None self.spin_thread = None
self.running = True self.running = True
self.log = get_logger("图像处理器")
# 异步 QR 码扫描相关 # 异步 QR 码扫描相关
self.scan_thread = None self.scan_thread = None
@ -66,7 +68,7 @@ class ImageProcessor:
while self.running: while self.running:
rclpy.spin_once(self.image_subscriber, timeout_sec=0.1) rclpy.spin_once(self.image_subscriber, timeout_sec=0.1)
except Exception as e: 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): def destroy(self):
self.running = False self.running = False
@ -94,7 +96,7 @@ class ImageProcessor:
interval: 扫描间隔，单位秒 interval: 扫描间隔，单位秒
""" """
if self.scan_thread is not None and self.scan_thread.is_alive(): 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 return
self.enable_async_scan = True 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 = 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.daemon = True # 设为守护线程，主线程结束时自动结束
self.scan_thread.start() 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): def stop_async_scan(self):
"""停止异步 QR 码扫描""" """停止异步 QR 码扫描"""
self.enable_async_scan = False self.enable_async_scan = False
if self.scan_thread and self.scan_thread.is_alive(): if self.scan_thread and self.scan_thread.is_alive():
self.scan_thread.join(timeout=1.0) 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): def _async_scan_worker(self, interval):
"""异步扫描工作线程""" """异步扫描工作线程"""
@ -131,10 +133,10 @@ class ImageProcessor:
if qr_data: if qr_data:
self.last_qr_result = qr_data self.last_qr_result = qr_data
self.last_qr_time = current_time 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: except Exception as e:
self.is_scanning = False 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 last_scan_time = current_time