167 lines
5.3 KiB
Python
167 lines
5.3 KiB
Python
#!/usr/bin/env python3
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import rclpy
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from rclpy.node import Node
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from sensor_msgs.msg import Image
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from cv_bridge import CvBridge
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import cv2
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from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy
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from qreader import QReader
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from threading import Thread, Lock
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import time
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import queue
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class ImageSubscriber(Node):
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def __init__(self):
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super().__init__('image_subscriber')
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# 定义 QoS 配置（匹配发布者的可靠性策略）
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qos_profile = QoSProfile(
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reliability=QoSReliabilityPolicy.BEST_EFFORT, # 或 BEST_EFFORT，取决于发布者
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history=QoSHistoryPolicy.KEEP_LAST,
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depth=10
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)
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self.subscription = self.create_subscription(
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Image,
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'/rgb_camera/image_raw',
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self.image_callback,
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qos_profile=qos_profile
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)
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self.subscription # 防止未使用变量警告
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self.bridge = CvBridge()
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self.cv_image = None # Store latest image
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def image_callback(self, msg):
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try:
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# 将ROS图像消息转换为OpenCV格式
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self.cv_image = self.bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8')
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except Exception as e:
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self.get_logger().error('Failed to convert image: %s' % str(e))
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class ImageProcessor:
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def __init__(self):
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self.image_subscriber = ImageSubscriber()
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self.qreader = QReader()
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self.spin_thread = None
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self.running = True
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# 异步 QR 码扫描相关
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self.scan_thread = None
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self.image_queue = queue.Queue(maxsize=3) # 限制队列大小，只保留最新的图像
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self.scan_lock = Lock()
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self.last_qr_result = None
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self.last_qr_time = 0
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self.is_scanning = False
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self.enable_async_scan = False
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def run(self):
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self.spin_thread = Thread(target=self._spin)
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self.spin_thread.start()
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def _spin(self):
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try:
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while self.running:
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rclpy.spin_once(self.image_subscriber, timeout_sec=0.1)
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except Exception as e:
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print(f"Spin thread error: {e}")
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def destroy(self):
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self.running = False
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self.stop_async_scan()
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if self.spin_thread:
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self.spin_thread.join()
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self.image_subscriber.destroy_node()
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def get_current_image(self):
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return self.image_subscriber.cv_image
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def decode_qrcode(self, img = None):
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if img is None:
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img = self.get_current_image()
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decoded_info = self.qreader.detect_and_decode(image=img)
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if decoded_info and len(decoded_info) > 0:
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return decoded_info[0]
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return None
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def start_async_scan(self, interval=0.3):
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"""
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启动异步 QR 码扫描
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参数:
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interval: 扫描间隔，单位秒
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"""
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if self.scan_thread is not None and self.scan_thread.is_alive():
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print("异步扫描已经在运行中")
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return
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self.enable_async_scan = True
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self.is_scanning = False
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self.scan_thread = Thread(target=self._async_scan_worker, args=(interval,))
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self.scan_thread.daemon = True # 设为守护线程，主线程结束时自动结束
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self.scan_thread.start()
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print("启动异步 QR 码扫描线程")
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def stop_async_scan(self):
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"""停止异步 QR 码扫描"""
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self.enable_async_scan = False
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if self.scan_thread and self.scan_thread.is_alive():
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self.scan_thread.join(timeout=1.0)
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print("异步 QR 码扫描线程已停止")
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def _async_scan_worker(self, interval):
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"""异步扫描工作线程"""
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last_scan_time = 0
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while self.enable_async_scan and self.running:
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current_time = time.time()
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# 按指定间隔扫描
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if current_time - last_scan_time >= interval:
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img = self.get_current_image()
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if img is not None:
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try:
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self.is_scanning = True
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qr_data = self.decode_qrcode(img)
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self.is_scanning = False
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with self.scan_lock:
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if qr_data:
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self.last_qr_result = qr_data
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self.last_qr_time = current_time
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print(f"异步扫描到 QR 码: {qr_data}")
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except Exception as e:
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self.is_scanning = False
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print(f"异步 QR 码扫描出错: {e}")
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last_scan_time = current_time
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# 短暂休眠避免占用过多 CPU
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time.sleep(0.05)
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def get_last_qr_result(self):
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"""获取最后一次成功扫描的 QR 码结果"""
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with self.scan_lock:
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return self.last_qr_result, self.last_qr_time
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""" DEBUG """
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def main(args=None):
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rclpy.init(args=args)
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image_subscriber = ImageSubscriber()
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try:
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rclpy.spin(image_subscriber)
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except KeyboardInterrupt:
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pass
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# 清理
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image_subscriber.destroy_node()
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if __name__ == '__main__':
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main()
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