feat: task-1

main.py

@@ -31,7 +31,6 @@ from task_2_5.task_2_5 import run_task_2_5, run_task_2_5_back
 from task_4.task_4 import run_task_4, run_task_4_back
 from task_test.task_left_line import run_task_test
 from task_5.task_5 import run_task_5
-from task_4.pass_bar import pass_bar
 from base_move.turn_degree import turn_degree, turn_degree_v2
 from base_move.center_on_dual_tracks import center_on_dual_tracks
 from base_move.go_to_xy import go_to_x_v2, go_to_y_v2
@@ -52,14 +51,13 @@ def main():
         Ctrl.base_msg.stand_up()
         print('yuyin')
         # speak('nihao')
-        # Ctrl.base_msg.stop()  # BUG 垃圾指令 for eat
+        Ctrl.base_msg.stop()  # BUG 垃圾指令 for eat
 
-        pass_bar(Ctrl, msg)
         Ctrl.base_msg.stand_up()
 
         # time.sleep(100) # TEST,
         
-        # run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP)
+        run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP)
 
         # arrow_direction = run_task_2(Ctrl, msg, xy_flag=False)
         # arrow_direction = 'right' # TEST

utils/image_raw.py

@@ -6,29 +6,20 @@ from sensor_msgs.msg import Image
 from cv_bridge import CvBridge
 import cv2
 import os
-from pyzbar import pyzbar
 from threading import Thread, Lock
 import time
 import queue
 from datetime import datetime 
-#from utils.log_helper import get_logger
+from utils.log_helper import get_logger
 # 导入AI相机服务
 from protocol.srv import CameraService
+# qrcode
+from pyzbar import pyzbar
 
-#!/usr/bin/env python3
-import rclpy
-from rclpy.node import Node
-from sensor_msgs.msg import Image
-from cv_bridge import CvBridge
-import cv2
-import os
-import time
-from datetime import datetime
-from protocol.srv import CameraService
 
 class ImageSubscriber(Node):
     def __init__(self):
-        super().__init__('image_subscriber')
+        super().__init__('ai_camera_demo')
         
         # 初始化安全控制标志
         self._shutdown_flag = False
@@ -205,13 +196,12 @@ class ImageProcessor:
     def get_current_image(self):
         return self.image_subscriber.cv_image
     
-    def decode_qrcode(self, img=None):
+    def decode_qrcodes(self, img=None):
         """使用pyzbar解码QR码"""
         if img is None:
             img = self.get_current_image()
-        
+            if img is None:
-        if img is None:
+                return None
-            return None
             
         try:
             # 使用pyzbar解码所有条形码/QR码
@@ -227,31 +217,31 @@ class ImageProcessor:
             print(f"QR码解码错误: {str(e)}")
             return None
     
-    def decode_all_qrcodes(self, img=None):
+    # def decode_all_qrcodes(self, img=None):
-        """解码图像中的所有QR码/条形码"""
+    #     """解码图像中的所有QR码/条形码"""
-        if img is None:
+    #     if img is None:
-            img = self.get_current_image()
+    #         img = self.get_current_image()
         
-        if img is None:
+    #     if img is None:
-            return []
+    #         return []
             
-        try:
+    #     try:
-            decoded_objects = pyzbar.decode(img)
+    #         decoded_objects = pyzbar.decode(img)
-            results = []
+    #         results = []
             
-            for obj in decoded_objects:
+    #         for obj in decoded_objects:
-                result = {
+    #             result = {
-                    'data': obj.data.decode('utf-8'),
+    #                 'data': obj.data.decode('utf-8'),
-                    'type': obj.type,
+    #                 'type': obj.type,
-                    'rect': obj.rect,  # 位置信息 (x, y, width, height)
+    #                 'rect': obj.rect,  # 位置信息 (x, y, width, height)
-                    'polygon': obj.polygon  # 多边形顶点
+    #                 'polygon': obj.polygon  # 多边形顶点
-                }
+    #             }
-                results.append(result)
+    #             results.append(result)
             
-            return results
+    #         return results
-        except Exception as e:
+    #     except Exception as e:
-            print(f"批量QR码解码错误: {str(e)}")
+    #         print(f"批量QR码解码错误: {str(e)}")
-            return []
+    #         return []
     
     def start_async_scan(self, interval=0.3):
         """