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更新所有注册表

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This commit is contained in:
Xuwznln
2025-09-19 20:28:43 +08:00
parent 304aebbba7
commit 2889e9be2c
7 changed files with 90 additions and 411 deletions
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18
unilabos/ros/nodes/presets/workstation.py
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@@ -29,6 +29,8 @@ from unilabos.utils.type_check import serialize_result_info
if TYPE_CHECKING:
from unilabos.devices.workstation.workstation_base import WorkstationBase
class ROS2WorkstationNodeTempError(Exception):
pass
class ROS2WorkstationNode(BaseROS2DeviceNode):
"""
@@ -259,11 +261,14 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
time.sleep(action["action_kwargs"]["time"])
step_results.append({"step": i + 1, "action": "wait", "result": "completed"})
else:
result = await self.execute_single_action(**action)
step_results.append({"step": i + 1, "action": action["action_name"], "result": result})
ret_info = json.loads(getattr(result, "return_info", "{}"))
if not ret_info.get("suc", False):
raise RuntimeError(f"Step {i + 1} failed.")
try:
result = await self.execute_single_action(**action)
step_results.append({"step": i + 1, "action": action["action_name"], "result": result})
ret_info = json.loads(getattr(result, "return_info", "{}"))
if not ret_info.get("suc", False):
raise RuntimeError(f"Step {i + 1} failed.")
except ROS2WorkstationNodeTempError as ex:
step_results.append({"step": i + 1, "action": action["action_name"], "result": ex.args[0]})
elif isinstance(action, list):
# 如果是并行动作，同时执行
actions = action
@@ -340,6 +345,9 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
async def execute_single_action(self, device_id, action_name, action_kwargs):
"""执行单个动作"""
# 构建动作ID
if action_name == "log_message":
self.lab_logger().info(f"[Protocol Log] {action_kwargs}")
raise ROS2WorkstationNodeTempError(f"[Protocol Log] {action_kwargs}")
if device_id in ["", None, "self"]:
action_id = f"/devices/{self.device_id}/{action_name}"
else: