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fix resource dict dump error
This commit is contained in:
Xuwznln
2025-12-04 16:04:56 +08:00
parent 0b896870ba
commit 154048107d
6 changed files with 15 additions and 16 deletions
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2
unilabos/app/communication.py
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@@ -141,7 +141,7 @@ class CommunicationClientFactory:
""" """
if cls._client_cache is None: if cls._client_cache is None:
cls._client_cache = cls.create_client(protocol) cls._client_cache = cls.create_client(protocol)
logger.info(f"[CommunicationFactory] Created {type(cls._client_cache).__name__} client") logger.trace(f"[CommunicationFactory] Created {type(cls._client_cache).__name__} client")
return cls._client_cache return cls._client_cache

6
unilabos/app/ws_client.py
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@@ -389,7 +389,7 @@ class MessageProcessor:
self.is_running = True self.is_running = True
self.thread = threading.Thread(target=self._run, daemon=True, name="MessageProcessor") self.thread = threading.Thread(target=self._run, daemon=True, name="MessageProcessor")
self.thread.start() self.thread.start()
logger.info("[MessageProcessor] Started") logger.trace("[MessageProcessor] Started")
def stop(self) -> None: def stop(self) -> None:
"""停止消息处理线程""" """停止消息处理线程"""
@@ -939,7 +939,7 @@ class QueueProcessor:
# 事件通知机制 # 事件通知机制
self.queue_update_event = threading.Event() self.queue_update_event = threading.Event()
logger.info("[QueueProcessor] Initialized") logger.trace("[QueueProcessor] Initialized")
def set_websocket_client(self, websocket_client: "WebSocketClient"): def set_websocket_client(self, websocket_client: "WebSocketClient"):
"""设置WebSocket客户端引用""" """设置WebSocket客户端引用"""
@@ -954,7 +954,7 @@ class QueueProcessor:
self.is_running = True self.is_running = True
self.thread = threading.Thread(target=self._run, daemon=True, name="QueueProcessor") self.thread = threading.Thread(target=self._run, daemon=True, name="QueueProcessor")
self.thread.start() self.thread.start()
logger.info("[QueueProcessor] Started") logger.trace("[QueueProcessor] Started")
def stop(self) -> None: def stop(self) -> None:
"""停止队列处理线程""" """停止队列处理线程"""

2
unilabos/resources/graphio.py
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@@ -97,7 +97,7 @@ def canonicalize_nodes_data(
for node in nodes: for node in nodes:
try: try:
print_status(f"DeviceId: {node['id']}, Class: {node['class']}", "info") # print_status(f"DeviceId: {node['id']}, Class: {node['class']}", "info")
# 使用标准化方法 # 使用标准化方法
resource_instance = ResourceDictInstance.get_resource_instance_from_dict(node) resource_instance = ResourceDictInstance.get_resource_instance_from_dict(node)
known_nodes[node["id"]] = resource_instance known_nodes[node["id"]] = resource_instance

8
unilabos/ros/nodes/presets/host_node.py
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@@ -718,7 +718,7 @@ class HostNode(BaseROS2DeviceNode):
feedback_callback=lambda feedback_msg: self.feedback_callback(item, action_id, feedback_msg), feedback_callback=lambda feedback_msg: self.feedback_callback(item, action_id, feedback_msg),
goal_uuid=goal_uuid_obj, goal_uuid=goal_uuid_obj,
) )
future.add_done_callback(lambda future: self.goal_response_callback(item, action_id, future)) future.add_done_callback(lambda f: self.goal_response_callback(item, action_id, f))
def goal_response_callback(self, item: "QueueItem", action_id: str, future) -> None: def goal_response_callback(self, item: "QueueItem", action_id: str, future) -> None:
"""目标响应回调""" """目标响应回调"""
@@ -729,9 +729,11 @@ class HostNode(BaseROS2DeviceNode):
self.lab_logger().info(f"[Host Node] Goal {action_id} ({item.job_id}) accepted") self.lab_logger().info(f"[Host Node] Goal {action_id} ({item.job_id}) accepted")
self._goals[item.job_id] = goal_handle self._goals[item.job_id] = goal_handle
goal_handle.get_result_async().add_done_callback( goal_future = goal_handle.get_result_async()
lambda future: self.get_result_callback(item, action_id, future) goal_future.add_done_callback(
lambda f: self.get_result_callback(item, action_id, f)
) )
goal_future.result()
def feedback_callback(self, item: "QueueItem", action_id: str, feedback_msg) -> None: def feedback_callback(self, item: "QueueItem", action_id: str, feedback_msg) -> None:
"""反馈回调""" """反馈回调"""

2
unilabos/ros/nodes/resource_tracker.py
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@@ -155,7 +155,7 @@ class ResourceDictInstance(object):
res_dict = self.res_content.model_dump(by_alias=True) res_dict = self.res_content.model_dump(by_alias=True)
res_dict["children"] = {child.res_content.id: child.get_plr_nested_dict() for child in self.children} res_dict["children"] = {child.res_content.id: child.get_plr_nested_dict() for child in self.children}
res_dict["parent"] = self.res_content.parent_instance_name res_dict["parent"] = self.res_content.parent_instance_name
res_dict["position"] = self.res_content.position.position.model_dump() res_dict["position"] = self.res_content.pose.position.model_dump()
del res_dict["pose"] del res_dict["pose"]
return res_dict return res_dict

11
unilabos/utils/log.py
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@@ -162,8 +162,9 @@ def configure_logger(loglevel=None, working_dir=None):
""" """
# 获取根日志记录器 # 获取根日志记录器
root_logger = logging.getLogger() root_logger = logging.getLogger()
root_logger.setLevel(TRACE_LEVEL)
# 设置日志级别 # 设置日志级别
numeric_level = logging.DEBUG
if loglevel is not None: if loglevel is not None:
if isinstance(loglevel, str): if isinstance(loglevel, str):
# 将字符串转换为logging级别 # 将字符串转换为logging级别
@@ -173,12 +174,8 @@ def configure_logger(loglevel=None, working_dir=None):
numeric_level = getattr(logging, loglevel.upper(), None) numeric_level = getattr(logging, loglevel.upper(), None)
if not isinstance(numeric_level, int): if not isinstance(numeric_level, int):
print(f"警告: 无效的日志级别 '{loglevel}'，使用默认级别 DEBUG") print(f"警告: 无效的日志级别 '{loglevel}'，使用默认级别 DEBUG")
numeric_level = logging.DEBUG
else: else:
numeric_level = loglevel numeric_level = loglevel
root_logger.setLevel(numeric_level)
else:
root_logger.setLevel(logging.DEBUG) # 默认级别
# 移除已存在的处理器 # 移除已存在的处理器
for handler in root_logger.handlers[:]: for handler in root_logger.handlers[:]:
@@ -186,7 +183,7 @@ def configure_logger(loglevel=None, working_dir=None):
# 创建控制台处理器 # 创建控制台处理器
console_handler = logging.StreamHandler() console_handler = logging.StreamHandler()
console_handler.setLevel(root_logger.level) # 使用与根记录器相同的级别 console_handler.setLevel(numeric_level) # 使用与根记录器相同的级别
# 使用自定义的颜色格式化器 # 使用自定义的颜色格式化器
color_formatter = ColoredFormatter() color_formatter = ColoredFormatter()
@@ -206,7 +203,7 @@ def configure_logger(loglevel=None, working_dir=None):
# 创建文件处理器 # 创建文件处理器
file_handler = logging.FileHandler(log_filepath, encoding="utf-8") file_handler = logging.FileHandler(log_filepath, encoding="utf-8")
file_handler.setLevel(root_logger.level) file_handler.setLevel(TRACE_LEVEL)
# 使用不带颜色的格式化器 # 使用不带颜色的格式化器
file_formatter = ColoredFormatter(use_colors=False) file_formatter = ColoredFormatter(use_colors=False)