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修复protocolnode的兼容性

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This commit is contained in:
Xuwznln
2025-09-19 22:54:27 +08:00
parent 4b5a83efa4
commit 301bea639e
16 changed files with 35 additions and 440 deletions
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10
unilabos/ros/nodes/presets/workstation.py
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@@ -24,7 +24,7 @@ from unilabos.ros.msgs.message_converter import (
convert_from_ros_msg_with_mapping,
)
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode
from unilabos.utils.type_check import serialize_result_info
from unilabos.utils.type_check import serialize_result_info, get_result_info_str
if TYPE_CHECKING:
from unilabos.devices.workstation.workstation_base import WorkstationBase
@@ -203,12 +203,12 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
execution_error = ""
execution_success = False
protocol_return_value = None
self.get_logger().info(f"Executing {protocol_name} action...")
self.lab_logger().info(f"Executing {protocol_name} action...")
action_value_mapping = self._action_value_mappings[protocol_name]
step_results = []
try:
print("+" * 30)
print(protocol_steps_generator)
self.lab_logger().warning("+" * 30)
self.lab_logger().info(protocol_steps_generator)
# 从目标消息中提取参数, 并调用Protocol生成器(根据设备连接图)生成action步骤
goal = goal_handle.request
protocol_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
@@ -334,7 +334,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
setattr(
result,
attr_name,
serialize_result_info(execution_error, execution_success, protocol_return_value),
get_result_info_str(execution_error, execution_success, protocol_return_value),
)
self.lab_logger().info(f"协议 {protocol_name} 完成并返回结果")