Task1/qr_vision/scripts/qr_scanner_node.py

#!/usr/bin/env python3
# -*- coding: utf-8 -*-
import rospy
import cv2
import json
import requests
import sys
from pyzbar.pyzbar import decode
from sensor_msgs.msg import Image
from cv_bridge import CvBridge
from qr_vision.srv import ScanQRCodes, ScanQRCodesResponse

sys.path.append('/home/ucar/ucar_ws/src/SparkTalk')
from SparkMain import build_prompt, ask_xinghuo, clean_json_response, validate_result_structure

class QRVisionNode:
    def __init__(self):
        self.bridge = CvBridge()
        self.product_names = []
        self.scanned_urls = set()

        rospy.init_node('qr_vision_node', anonymous=True)
        rospy.Subscriber('/ucar_camera/image_raw', Image, self.image_callback)
        rospy.Service('/scan_qrcodes', ScanQRCodes, self.handle_scan_request)
        rospy.loginfo("二维码视觉节点已启动")

    def image_callback(self, img_msg):
        if len(self.product_names) >= 3:
            return

        frame = self.bridge.imgmsg_to_cv2(img_msg, "rgb8")
        frame_bgr = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR)

        for obj in decode(frame_bgr):
            url = obj.data.decode('utf-8')
            if url in self.scanned_urls:
                continue

            rospy.loginfo("识别到二维码URL: %s", url)
            try:
                resp = requests.get(url, timeout=5)
                data = resp.json()
                if data.get("code") == 200:
                    product = data["result"]
                    self.product_names.append(product)
                    self.scanned_urls.add(url)
                    rospy.loginfo("货品: %s (%d/3)", product, len(self.product_names))
            except Exception as e:
                rospy.logwarn("请求URL失败: %s", str(e))

    def handle_scan_request(self, req):
        real_cat = req.real_category
        sim_cat = req.simulation_category

        timeout = rospy.Time.now() + rospy.Duration(15)
        while len(self.product_names) < 3 and rospy.Time.now() < timeout:
            rospy.sleep(0.5)

        if len(self.product_names) < 3:
            rospy.logwarn("只识别到%d个二维码", len(self.product_names))

        rospy.loginfo("识别到的货品: %s", str(self.product_names))

        prompt = build_prompt(real_cat, sim_cat, self.product_names)
        raw_response = ask_xinghuo(prompt)

        real_product = ""
        sim_product = ""
        try:
            cleaned = clean_json_response(raw_response)
            result = json.loads(cleaned)
            is_valid, errors = validate_result_structure(
                result, real_cat, sim_cat, self.product_names)

            if is_valid:
                real_product = result["real_task"]["matched_product"]
                sim_product = result["simulation_task"]["matched_product"]
                rospy.loginfo("决策成功: 真实=%s 仿真=%s", real_product, sim_product)
            else:
                rospy.logwarn("校验失败: %s", str(errors))
        except Exception as e:
            rospy.logerr("JSON解析失败: %s", str(e))

        saved_products = list(self.product_names)
        self.product_names = []
        self.scanned_urls = set()

        return ScanQRCodesResponse(
            product_names=saved_products,
            real_product=real_product,
            simulation_product=sim_product
        )

if __name__ == '__main__':
    try:
        QRVisionNode()
        rospy.spin()
    except rospy.ROSInterruptException:
        pass