From 02425f89e97ef42eef4a9646bdcf3951a4fd5cd5 Mon Sep 17 00:00:00 2001
From: wznln <18435084+Xuwznln@users.noreply.github.com>
Date: Wed, 14 May 2025 23:57:37 +0800
Subject: [PATCH] add missing action clients

---
 unilabos/registry/registry.py           | 8 ++++----
 unilabos/ros/nodes/presets/host_node.py | 9 ++++++++-
 2 files changed, 12 insertions(+), 5 deletions(-)

diff --git a/unilabos/registry/registry.py b/unilabos/registry/registry.py
index 331eaf67..c8a6bf66 100644
--- a/unilabos/registry/registry.py
+++ b/unilabos/registry/registry.py
@@ -19,10 +19,10 @@ class Registry:
         self.registry_paths = DEFAULT_PATHS.copy()  # 使用copy避免修改默认值
         if registry_paths:
             self.registry_paths.extend(registry_paths)
-        ResourceCreateFromOuter = self._replace_type_with_class(
+        self.ResourceCreateFromOuter = self._replace_type_with_class(
             "ResourceCreateFromOuter", "host_node", f"动作 add_resource_from_outer"
         )
-        ResourceCreateFromOuterEasy = self._replace_type_with_class(
+        self.ResourceCreateFromOuterEasy = self._replace_type_with_class(
             "ResourceCreateFromOuterEasy", "host_node", f"动作 add_resource_from_outer_easy"
         )
         self.device_type_registry = {
@@ -46,7 +46,7 @@ class Registry:
                             "result": {
                                 "success": "success"
                             },
-                            "schema": ros_action_to_json_schema(ResourceCreateFromOuter)
+                            "schema": ros_action_to_json_schema(self.ResourceCreateFromOuter)
                         },
                         "add_resource_from_outer_easy": {
                             "type": msg_converter_manager.search_class("ResourceCreateFromOuterEasy"),
@@ -64,7 +64,7 @@ class Registry:
                             "result": {
                                 "success": "success"
                             },
-                            "schema": ros_action_to_json_schema(ResourceCreateFromOuterEasy)
+                            "schema": ros_action_to_json_schema(self.ResourceCreateFromOuterEasy)
                         }
                     }
                 },
diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py
index b791552b..86bffd61 100644
--- a/unilabos/ros/nodes/presets/host_node.py
+++ b/unilabos/ros/nodes/presets/host_node.py
@@ -101,7 +101,14 @@ class HostNode(BaseROS2DeviceNode):
         self.devices_names: Dict[str, str] = {device_id: self.namespace}  # 存储设备名称和命名空间的映射
         self.devices_instances: Dict[str, ROS2DeviceNode] = {}  # 存储设备实例
         self.device_machine_names: Dict[str, str] = {device_id: "本地", }  # 存储设备ID到机器名称的映射
-        self._action_clients: Dict[str, ActionClient] = {}  # 用来存储多个ActionClient实例
+        self._action_clients: Dict[str, ActionClient] = {  # 为了方便了解实际的数据类型，host的默认写好
+            "/devices/host_node/add_resource_from_outer_easy": ActionClient(
+                self, lab_registry.ResourceCreateFromOuterEasy, "/devices/host_node/add_resource_from_outer_easy", callback_group=self.callback_group
+            ),
+            "/devices/host_node/add_resource_from_outer": ActionClient(
+                self, lab_registry.ResourceCreateFromOuter, "/devices/host_node/add_resource_from_outer", callback_group=self.callback_group
+            )
+        }  # 用来存储多个ActionClient实例
         self._action_value_mappings: Dict[str, Dict] = {}  # 用来存储多个ActionClient的type, goal, feedback, result的变量名映射关系
         self._goals: Dict[str, Any] = {}  # 用来存储多个目标的状态
         self._online_devices: Set[str] = {f"{self.namespace}/{device_id}"}  # 用于跟踪在线设备