引入非阻塞主线

main.py

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