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Merge branch 'dev' into fork/KCFeng425/fix-protocol-parameter

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# Conflicts:
#	unilabos/app/mq.py
#	unilabos/registry/devices/virtual_device.yaml
#	unilabos/registry/devices/work_station.yaml
This commit is contained in:
Xuwznln
2025-07-16 11:10:05 +08:00
parent ed3b22a738 540c5e94b7
commit 22ed7efa64
33 changed files with 2970 additions and 4331 deletions
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5
unilabos/ros/nodes/presets/host_node.py
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@@ -459,7 +459,7 @@ class HostNode(BaseROS2DeviceNode):
self.devices_instances[device_id] = d
# noinspection PyProtectedMember
for action_name, action_value_mapping in d._ros_node._action_value_mappings.items():
if action_name.startswith("auto-"):
if action_name.startswith("auto-") or str(action_value_mapping.get("type", "")).startswith("UniLabJsonCommand"):
continue
action_id = f"/devices/{device_id}/{action_name}"
if action_id not in self._action_clients:
@@ -603,8 +603,7 @@ class HostNode(BaseROS2DeviceNode):
if action_name == "test_latency" and server_info is not None:
self.server_latest_timestamp = server_info.get("send_timestamp", 0.0)
if action_id not in self._action_clients:
self.lab_logger().error(f"[Host Node] ActionClient {action_id} not found.")
return
raise ValueError(f"ActionClient {action_id} not found.")
action_client: ActionClient = self._action_clients[action_id]

2
unilabos/ros/nodes/presets/protocol_node.py
View File

@@ -134,7 +134,7 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
if d is not None and hasattr(d, "ros_node_instance"):
node = d.ros_node_instance
for action_name, action_mapping in node._action_value_mappings.items():
if action_name.startswith("auto-"):
if action_name.startswith("auto-") or str(action_mapping.get("type", "")).startswith("UniLabJsonCommand"):
continue
action_id = f"/devices/{device_id_abs}/{action_name}"
if action_id not in self._action_clients: