fix: add #

utils/image_raw.py

@@ -116,16 +116,12 @@ class ImageSubscriber(Node):
     def image_callback(self, msg):
         """安全的图像回调"""
         if getattr(self, '_shutdown_flag', False):
+            self.get_logger().warning('image_callback, shutdown')
+            print('image_callback, shutdown')
             return
             
         current_time = time.time()
-        elapsed = current_time - self.start_time
         
-        if elapsed >= self.total_duration:
-            self.get_logger().info("已完成30秒截图任务")
-            self._shutdown_flag = True
-            return
-            
         try:
             self.cv_image = self.bridge.imgmsg_to_cv2(msg, 'bgr8')
             
@@ -196,7 +192,7 @@ class ImageProcessor:
     def get_current_image(self):
         return self.image_subscriber.cv_image
     
-    def decode_qrcodes(self, img=None):
+    def decode_all_qrcodes(self, img=None):
         """使用pyzbar解码QR码"""
         if img is None:
             img = self.get_current_image()
@@ -284,7 +280,8 @@ class ImageProcessor:
                 if img is not None:
                     try:
                         self.is_scanning = True
-                        qr_data = self.decode_qrcode(img)
+                        qr_data = self.decode_all_qrcodes(img)
+                        print(qr_data)
                         self.is_scanning = False
                         
                         with self.scan_lock:
@@ -297,7 +294,9 @@ class ImageProcessor:
                         self.is_scanning = False
                         # self.log.error(f"异步 QR 码扫描出错: {e}", "错误")
                         print(f"异步 QR 码扫描出错: {e}")
-                
+                else:
+                    print('no img')
+
                 last_scan_time = current_time
             
             # 短暂休眠避免占用过多 CPU