引入非阻塞主线
This commit is contained in:
@@ -405,6 +405,72 @@ def _find_profile_exact(profile_list, cfg: dict):
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return None
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# ─────────────────────────────────────────────────────────────────
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# Refresh Devices Worker Thread
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# ─────────────────────────────────────────────────────────────────
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class RefreshDevicesWorker(QThread):
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done = pyqtSignal(dict) # result dict on success
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error = pyqtSignal(str) # error message on failure
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def run(self):
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try:
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from pyorbbecsdk import Pipeline, OBSensorType
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p = Pipeline()
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sn = "unknown"
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try:
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sn = p.get_device().get_device_info().get_serial_number()
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except Exception:
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pass
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color_items = []
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color_list = p.get_stream_profile_list(OBSensorType.COLOR_SENSOR)
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for i in range(color_list.get_count()):
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vp = color_list.get_stream_profile_by_index(i).as_video_stream_profile()
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if vp is None:
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continue
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fmt = str(vp.get_format()).split(".")[-1]
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cfg = {"width": vp.get_width(), "height": vp.get_height(),
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"fps": vp.get_fps(), "format": fmt}
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label = f"{vp.get_width()}×{vp.get_height()} @ {vp.get_fps()} fps [{fmt}]"
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color_items.append((label, cfg))
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depth_items = []
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depth_list = p.get_stream_profile_list(OBSensorType.DEPTH_SENSOR)
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for i in range(depth_list.get_count()):
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vp = depth_list.get_stream_profile_by_index(i).as_video_stream_profile()
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if vp is None:
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continue
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fmt = str(vp.get_format()).split(".")[-1]
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cfg = {"width": vp.get_width(), "height": vp.get_height(),
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"fps": vp.get_fps(), "format": fmt}
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label = f"{vp.get_width()}×{vp.get_height()} @ {vp.get_fps()} fps [{fmt}]"
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depth_items.append((label, cfg))
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preset_items = []
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current_preset = None
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try:
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preset_list = p.get_device().get_available_preset_list()
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current_preset = p.get_device().get_current_preset_name()
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if preset_list and len(preset_list) > 0:
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preset_items = [("── 不切换 ──", None)] + [
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(preset_list[i], preset_list[i]) for i in range(len(preset_list))
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]
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except Exception:
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pass
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self.done.emit({
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"sn": sn,
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"color_items": color_items,
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"depth_items": depth_items,
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"preset_items": preset_items,
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"current_preset": current_preset,
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})
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except Exception as exc:
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self.error.emit(str(exc))
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# ─────────────────────────────────────────────────────────────────
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# Camera Worker Thread
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# ─────────────────────────────────────────────────────────────────
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@@ -460,6 +526,9 @@ class CameraWorker(QThread):
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self._running = False
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self.wait(6000)
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def request_stop(self):
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self._running = False
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# ── Thread body ──
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def run(self):
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@@ -1031,6 +1100,7 @@ class MainWindow(QMainWindow):
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self._worker: CameraWorker | None = None
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self._batch_worker: BatchD2CWorker | None = None
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self._fetch_worker: FetchParamsWorker | None = None
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self._refresh_worker: RefreshDevicesWorker | None = None
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self._session_dir: Path | None = None
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self._params_filename = "camera_params.json"
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self._color_profiles_data: list[dict] = []
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@@ -1145,10 +1215,10 @@ class MainWindow(QMainWindow):
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grp1 = self._step_group(1, "刷新设备")
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g1 = QHBoxLayout(grp1)
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g1.setContentsMargins(8, 4, 8, 6)
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refresh_btn = QPushButton("刷新设备")
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refresh_btn.setFixedHeight(_sz(28))
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refresh_btn.clicked.connect(self._refresh_devices)
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g1.addWidget(refresh_btn)
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self.refresh_btn = QPushButton("刷新设备")
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self.refresh_btn.setFixedHeight(_sz(28))
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self.refresh_btn.clicked.connect(self._refresh_devices)
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g1.addWidget(self.refresh_btn)
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self.device_status = QLabel("未连接设备，请点击「刷新设备」")
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self.device_status.setStyleSheet(f"color:#aaa; font-size:{_fs(12)}px;")
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g1.addWidget(self.device_status)
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@@ -1375,10 +1445,10 @@ class MainWindow(QMainWindow):
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grp1 = self._step_group(1, "刷新设备")
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g1 = QHBoxLayout(grp1)
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g1.setContentsMargins(8, 4, 8, 6)
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d2c_refresh_btn = QPushButton("刷新设备")
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d2c_refresh_btn.setFixedHeight(_sz(28))
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d2c_refresh_btn.clicked.connect(self._refresh_devices)
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g1.addWidget(d2c_refresh_btn)
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self.d2c_refresh_btn = QPushButton("刷新设备")
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self.d2c_refresh_btn.setFixedHeight(_sz(28))
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self.d2c_refresh_btn.clicked.connect(self._refresh_devices)
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g1.addWidget(self.d2c_refresh_btn)
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self.d2c_device_status = QLabel("未连接设备，请点击「刷新设备」")
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self.d2c_device_status.setStyleSheet(f"color:#aaa; font-size:{_fs(12)}px;")
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g1.addWidget(self.d2c_device_status)
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@@ -1500,10 +1570,8 @@ class MainWindow(QMainWindow):
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# ─────────────────────────────────
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def _refresh_devices(self):
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"""连接相机，枚举并填充所有分辨率下拉框（Tab 1 + Tab 2）。"""
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self.device_status.setText("正在扫描设备…")
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QApplication.processEvents()
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if self._refresh_worker and self._refresh_worker.isRunning():
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return
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self.color_combo.clear()
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self.depth_combo.clear()
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self.preset_combo.clear()
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@@ -1511,84 +1579,66 @@ class MainWindow(QMainWindow):
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self.d2c_depth_combo.clear()
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self._color_profiles_data.clear()
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self._depth_profiles_data.clear()
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self.refresh_btn.setEnabled(False)
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self.d2c_refresh_btn.setEnabled(False)
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for lbl in (self.device_status, self.d2c_device_status):
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lbl.setText("正在扫描设备…")
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lbl.setStyleSheet(f"color:#aaa; font-size:{_fs(12)}px;")
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self._refresh_worker = RefreshDevicesWorker()
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self._refresh_worker.done.connect(self._on_refresh_done)
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self._refresh_worker.error.connect(self._on_refresh_error)
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self._refresh_worker.start()
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try:
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from pyorbbecsdk import Pipeline, OBSensorType
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p = Pipeline()
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def _on_refresh_done(self, result: dict):
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self.refresh_btn.setEnabled(True)
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self.d2c_refresh_btn.setEnabled(True)
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for label, cfg in result["color_items"]:
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self._color_profiles_data.append(cfg)
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self.color_combo.addItem(label, cfg)
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self.d2c_color_combo.addItem(label, cfg)
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for label, cfg in result["depth_items"]:
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self._depth_profiles_data.append(cfg)
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self.depth_combo.addItem(label, cfg)
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self.d2c_depth_combo.addItem(label, cfg)
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preset_items = result.get("preset_items", [])
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current_preset = result.get("current_preset")
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if preset_items:
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for label, data in preset_items:
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self.preset_combo.addItem(label, data)
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idx = self.preset_combo.findData(current_preset)
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if idx >= 0:
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self.preset_combo.setCurrentIndex(idx)
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self.preset_combo.setEnabled(True)
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fm = self.preset_combo.fontMetrics()
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max_w = max(fm.horizontalAdvance(self.preset_combo.itemText(i))
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for i in range(self.preset_combo.count()))
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padded = max_w + _sz(48)
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self.preset_combo.view().setMinimumWidth(padded)
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self.preset_combo.setMinimumWidth(padded)
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self.preset_combo.updateGeometry()
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else:
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self.preset_combo.addItem("（设备不支持）", None)
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self.preset_combo.setEnabled(False)
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sn = result.get("sn", "unknown")
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nc, nd = len(self._color_profiles_data), len(self._depth_profiles_data)
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msg = f"已连接 SN: {sn} 彩色 {nc} 项 / 深度 {nd} 项"
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style = f"color:#4aaa4a; font-size:{_fs(12)}px;"
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self.device_status.setText(msg)
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self.device_status.setStyleSheet(style)
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self.d2c_device_status.setText(msg)
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self.d2c_device_status.setStyleSheet(style)
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self._refresh_worker = None
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sn = "unknown"
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try:
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sn = p.get_device().get_device_info().get_serial_number()
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except Exception:
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pass
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color_list = p.get_stream_profile_list(OBSensorType.COLOR_SENSOR)
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for i in range(color_list.get_count()):
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vp = color_list.get_stream_profile_by_index(i).as_video_stream_profile()
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if vp is None:
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continue
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fmt = str(vp.get_format()).split(".")[-1]
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cfg = {"width": vp.get_width(), "height": vp.get_height(),
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"fps": vp.get_fps(), "format": fmt}
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label = f"{vp.get_width()}×{vp.get_height()} @ {vp.get_fps()} fps [{fmt}]"
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self._color_profiles_data.append(cfg)
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self.color_combo.addItem(label, cfg)
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self.d2c_color_combo.addItem(label, cfg)
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depth_list = p.get_stream_profile_list(OBSensorType.DEPTH_SENSOR)
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for i in range(depth_list.get_count()):
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vp = depth_list.get_stream_profile_by_index(i).as_video_stream_profile()
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if vp is None:
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continue
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fmt = str(vp.get_format()).split(".")[-1]
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cfg = {"width": vp.get_width(), "height": vp.get_height(),
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"fps": vp.get_fps(), "format": fmt}
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label = f"{vp.get_width()}×{vp.get_height()} @ {vp.get_fps()} fps [{fmt}]"
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self._depth_profiles_data.append(cfg)
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self.depth_combo.addItem(label, cfg)
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self.d2c_depth_combo.addItem(label, cfg)
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# 枚举 preset
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try:
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preset_list = p.get_device().get_available_preset_list()
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current_preset = p.get_device().get_current_preset_name()
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if preset_list and len(preset_list) > 0:
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self.preset_combo.addItem("── 不切换 ──", None)
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for i in range(len(preset_list)):
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name = preset_list[i]
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self.preset_combo.addItem(name, name)
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# 选中当前 preset
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idx = self.preset_combo.findData(current_preset)
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if idx >= 0:
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self.preset_combo.setCurrentIndex(idx)
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self.preset_combo.setEnabled(True)
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fm = self.preset_combo.fontMetrics()
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max_w = max(fm.horizontalAdvance(self.preset_combo.itemText(i))
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for i in range(self.preset_combo.count()))
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padded = max_w + _sz(48)
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self.preset_combo.view().setMinimumWidth(padded)
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self.preset_combo.setMinimumWidth(padded)
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self.preset_combo.updateGeometry()
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else:
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self.preset_combo.addItem("（设备不支持）", None)
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self.preset_combo.setEnabled(False)
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except Exception as exc:
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self.preset_combo.addItem(f"（不支持: {exc}）", None)
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self.preset_combo.setEnabled(False)
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nc, nd = len(self._color_profiles_data), len(self._depth_profiles_data)
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msg = f"已连接 SN: {sn} 彩色 {nc} 项 / 深度 {nd} 项"
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self.device_status.setText(msg)
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self.device_status.setStyleSheet(f"color:#4aaa4a; font-size:{_fs(12)}px;")
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self.d2c_device_status.setText(msg)
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self.d2c_device_status.setStyleSheet(f"color:#4aaa4a; font-size:{_fs(12)}px;")
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except Exception as exc:
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msg = f"未找到设备：{exc}"
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self.device_status.setText(msg)
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self.device_status.setStyleSheet(f"color:#cc6666; font-size:{_fs(12)}px;")
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self.d2c_device_status.setText(msg)
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self.d2c_device_status.setStyleSheet(f"color:#cc6666; font-size:{_fs(12)}px;")
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def _on_refresh_error(self, msg: str):
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self.refresh_btn.setEnabled(True)
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self.d2c_refresh_btn.setEnabled(True)
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full = f"未找到设备：{msg}"
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style = f"color:#cc6666; font-size:{_fs(12)}px;"
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self.device_status.setText(full)
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self.device_status.setStyleSheet(style)
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self.d2c_device_status.setText(full)
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self.d2c_device_status.setStyleSheet(style)
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self._refresh_worker = None
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# ─────────────────────────────────
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# Stream Toggle
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@@ -1611,8 +1661,24 @@ class MainWindow(QMainWindow):
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self._stop_stream()
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def _start_stream(self, color_cfg: dict, depth_cfg: dict):
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self._stop_stream() # 确保旧 worker 已停止
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preset = self.preset_combo.currentData() # None 表示不切换
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old = self._worker
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self._worker = None
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if old and old.isRunning():
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# 异步等旧 pipeline 释放后再启动新的
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old.request_stop()
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old.finished.connect(old.deleteLater)
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old.finished.connect(lambda: self._do_start_stream(color_cfg, depth_cfg))
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self.capture_btn.setEnabled(False)
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self.color_combo.setEnabled(False)
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self.depth_combo.setEnabled(False)
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self.stream_btn.setText("关闭")
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return
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if old:
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old.deleteLater()
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self._do_start_stream(color_cfg, depth_cfg)
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def _do_start_stream(self, color_cfg: dict, depth_cfg: dict):
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preset = self.preset_combo.currentData()
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self._worker = CameraWorker(color_cfg, depth_cfg, preset=preset)
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self._worker.set_d2c(self.d2c_check.isChecked())
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self._worker.set_d2c_method(self.capture_d2c_method_combo.currentData())
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@@ -1630,13 +1696,14 @@ class MainWindow(QMainWindow):
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def _stop_stream(self):
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if self._worker:
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self._worker.stop()
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w = self._worker
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self._worker = None
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w.request_stop()
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w.finished.connect(w.deleteLater)
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self.capture_btn.setEnabled(False)
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self.color_combo.setEnabled(True)
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self.depth_combo.setEnabled(True)
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self.stream_btn.setText("开启")
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# 清空预览
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for lbl in (self.color_lbl, self.depth_lbl):
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lbl.setText("等待画面…")
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lbl.setPixmap(QPixmap())
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Reference in New Issue
Block a user