From 0b896870bafe958794e0384b6d63ea2becc51e56 Mon Sep 17 00:00:00 2001
From: Xuwznln <18435084+Xuwznln@users.noreply.github.com>
Date: Tue, 2 Dec 2025 12:00:26 +0800
Subject: [PATCH] signal when host node is ready

---
 unilabos/app/ws_client.py               | 16 ++++++++++++++++
 unilabos/ros/nodes/presets/host_node.py |  7 +++++++
 2 files changed, 23 insertions(+)

diff --git a/unilabos/app/ws_client.py b/unilabos/app/ws_client.py
index 8f39275d..471868bc 100644
--- a/unilabos/app/ws_client.py
+++ b/unilabos/app/ws_client.py
@@ -1314,3 +1314,19 @@ class WebSocketClient(BaseCommunicationClient):
             logger.info(f"[WebSocketClient] Job {job_log} cancelled successfully")
         else:
             logger.warning(f"[WebSocketClient] Failed to cancel job {job_log}")
+
+    def publish_host_ready(self) -> None:
+        """发布host_node ready信号"""
+        if self.is_disabled or not self.is_connected():
+            logger.debug("[WebSocketClient] Not connected, cannot publish host ready signal")
+            return
+
+        message = {
+            "action": "host_node_ready",
+            "data": {
+                "status": "ready",
+                "timestamp": time.time(),
+            },
+        }
+        self.message_processor.send_message(message)
+        logger.info("[WebSocketClient] Host node ready signal published")
diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py
index 2dba3422..1746bb11 100644
--- a/unilabos/ros/nodes/presets/host_node.py
+++ b/unilabos/ros/nodes/presets/host_node.py
@@ -289,6 +289,12 @@ class HostNode(BaseROS2DeviceNode):
         self.lab_logger().info("[Host Node] Host node initialized.")
         HostNode._ready_event.set()
 
+        # 发送host_node ready信号到所有桥接器
+        for bridge in self.bridges:
+            if hasattr(bridge, "publish_host_ready"):
+                bridge.publish_host_ready()
+                self.lab_logger().debug(f"Host ready signal sent via {bridge.__class__.__name__}")
+
     def _send_re_register(self, sclient):
         sclient.wait_for_service()
         request = SerialCommand.Request()
@@ -794,6 +800,7 @@ class HostNode(BaseROS2DeviceNode):
             # 存储结果供 HTTP API 查询
             try:
                 from unilabos.app.web.controller import store_job_result
+
                 if goal_status == GoalStatus.STATUS_CANCELED:
                     store_job_result(job_id, status, return_info, {})
                 else: