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result_info改为字典类型

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Xuwznln
2025-09-11 16:24:53 +08:00
parent 58d1cc4720
commit 513e848d89
7 changed files with 38 additions and 17 deletions
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8
unilabos/ros/nodes/base_device_node.py
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@@ -53,7 +53,7 @@ from unilabos.ros.x.rclpyx import get_event_loop
from unilabos.ros.utils.driver_creator import ProtocolNodeCreator, PyLabRobotCreator, DeviceClassCreator
from unilabos.utils.async_util import run_async_func
from unilabos.utils.log import info, debug, warning, error, critical, logger, trace
from unilabos.utils.type_check import get_type_class, TypeEncoder, serialize_result_info
from unilabos.utils.type_check import get_type_class, TypeEncoder, serialize_result_info, get_result_info_str
T = TypeVar("T")
@@ -416,10 +416,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
liquid_volume=LIQUID_VOLUME,
slot_on_deck=slot,
)
res.response = serialize_result_info("", True, ret)
res.response = get_result_info_str("", True, ret)
except Exception as e:
traceback.print_exc()
res.response = serialize_result_info(traceback.format_exc(), False, {})
res.response = get_result_info_str(traceback.format_exc(), False, {})
return res
# 接下来该根据bind_parent_id进行assign了，目前只有plr可以进行assign，不然没有办法输入到物料系统中
if bind_parent_id != self.node_name:
@@ -837,7 +837,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
if attr_name in ["success", "reached_goal"]:
setattr(result_msg, attr_name, True)
elif attr_name == "return_info":
setattr(result_msg, attr_name, serialize_result_info(execution_error, execution_success, action_return_value))
setattr(result_msg, attr_name, get_result_info_str(execution_error, execution_success, action_return_value))
##### self.lab_logger().info(f"动作 {action_name} 完成并返回结果")
return result_msg