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result_info改为字典类型

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This commit is contained in:
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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12
unilabos/ros/nodes/presets/host_node.py
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@@ -713,22 +713,24 @@ class HostNode(BaseROS2DeviceNode):
return_info_str = result_data.get("return_info")
if return_info_str is not None:
try:
ret = json.loads(return_info_str)
suc = ret.get("suc", False)
return_info = json.loads(return_info_str)
suc = return_info.get("suc", False)
if not suc:
status = "failed"
except json.JSONDecodeError:
status = "failed"
return_info = serialize_result_info("", False, result_data)
self.lab_logger().critical("错误的return_info类型，请断点修复")
else:
# 无 return_info 字段时，回退到 success 字段（若存在）
suc_field = result_data.get("success")
if isinstance(suc_field, bool):
status = "success" if suc_field else "failed"
return_info_str = serialize_result_info("", suc_field, result_data)
return_info = serialize_result_info("", suc_field, result_data)
else:
# 最保守的回退：标记失败并返回空JSON
status = "failed"
return_info_str = serialize_result_info("缺少return_info", False, result_data)
return_info = serialize_result_info("缺少return_info", False, result_data)
self.lab_logger().info(f"[Host Node] Result for {action_id} ({job_id}): {status}")
self.lab_logger().debug(f"[Host Node] Result data: {result_data}")
@@ -736,7 +738,7 @@ class HostNode(BaseROS2DeviceNode):
if job_id:
for bridge in self.bridges:
if hasattr(bridge, "publish_job_status"):
bridge.publish_job_status(result_data, item, status, return_info_str)
bridge.publish_job_status(result_data, item, status, return_info)
def cancel_goal(self, goal_uuid: str) -> None:
"""取消目标"""

4
unilabos/ros/nodes/presets/protocol_node.py
View File

@@ -25,7 +25,7 @@ from unilabos.ros.msgs.message_converter import (
)
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode
from unilabos.utils.log import error
from unilabos.utils.type_check import serialize_result_info
from unilabos.utils.type_check import serialize_result_info, get_result_info_str
class ROS2ProtocolNode(BaseROS2DeviceNode):
@@ -314,7 +314,7 @@ class ROS2ProtocolNode(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")