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调整protocol node以更好支持多种类型的read和write

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Xuwznln
2025-06-10 21:54:23 +08:00
parent 90169981c1
commit 369a21b904
1 changed files with 6 additions and 2 deletions
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8
unilabos/ros/nodes/presets/protocol_node.py
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@@ -1,6 +1,7 @@
import time import time
import asyncio import asyncio
import traceback import traceback
from types import MethodType
from typing import Union from typing import Union
import rclpy import rclpy
@@ -252,9 +253,12 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
return write_func(*args, **kwargs) return write_func(*args, **kwargs)
if read_method: if read_method:
setattr(device.driver_instance, read_method, _read) bound_read = MethodType(_read, device.driver_instance)
setattr(device.driver_instance, read_method, bound_read)
if write_method: if write_method:
setattr(device.driver_instance, write_method, _write) bound_write = MethodType(_write, device.driver_instance)
setattr(device.driver_instance, write_method, bound_write)
async def _update_resources(self, goal, protocol_kwargs): async def _update_resources(self, goal, protocol_kwargs):