result_info改为字典类型

unilabos/app/communication.py

@@ -52,7 +52,7 @@ class BaseCommunicationClient(ABC):
 
     @abstractmethod
     def publish_job_status(
-        self, feedback_data: dict, job_id: str, status: str, return_info: Optional[str] = None
+        self, feedback_data: dict, job_id: str, status: str, return_info: Optional[dict] = None
     ) -> None:
         """
         发布作业状态信息

unilabos/app/mq.py

@@ -171,11 +171,11 @@ class MQTTClient(BaseCommunicationClient):
         self.client.publish(address, json.dumps(status), qos=2)
         # logger.info(f"Device {device_id} status published: address: {address}, {status}")
 
-    def publish_job_status(self, feedback_data: dict, job_id: str, status: str, return_info: Optional[str] = None):
+    def publish_job_status(self, feedback_data: dict, job_id: str, status: str, return_info: Optional[dict] = None):
         if self.mqtt_disable:
             return
         if return_info is None:
-            return_info = "{}"
+            return_info = {}
         jobdata = {"job_id": job_id, "data": feedback_data, "status": status, "return_info": return_info}
         self.client.publish(f"labs/{MQConfig.lab_id}/job/list/", json.dumps(jobdata), qos=2)
 

unilabos/app/ws_client.py

@@ -243,6 +243,7 @@ class TaskScheduler:
                 )
                 return False
 
+            # noinspection PyProtectedMember
             action_jobs = len(host_node._device_action_status[item.device_action_key].job_ids)
             free = not bool(action_jobs)
 
@@ -539,7 +540,7 @@ class TaskScheduler:
 
     # 外部接口方法
     def publish_job_status(
-        self, feedback_data: dict, item: "QueueItem", status: str, return_info: Optional[str] = None
+        self, feedback_data: dict, item: "QueueItem", status: str, return_info: Optional[dict] = None
     ) -> None:
         """发布作业状态，拦截最终结果（给HostNode调用的接口）"""
         if not self.message_sender.is_connected():
@@ -983,7 +984,7 @@ class WebSocketClient(BaseCommunicationClient):
         logger.debug(f"[WebSocket] Device status published: {device_id}.{property_name}")
 
     def publish_job_status(
-        self, feedback_data: dict, item: "QueueItem", status: str, return_info: Optional[str] = None
+        self, feedback_data: dict, item: "QueueItem", status: str, return_info: Optional[dict] = None
     ) -> None:
         """发布作业状态（转发给TaskScheduler）"""
         if self.task_scheduler:

unilabos/ros/nodes/base_device_node.py

@@ -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

unilabos/ros/nodes/presets/host_node.py

@@ -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)
+                return_info = json.loads(return_info_str)
-                suc = ret.get("suc", False)
+                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"""

unilabos/ros/nodes/presets/protocol_node.py

@@ -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")

unilabos/utils/type_check.py

@@ -66,7 +66,7 @@ class ResultInfoEncoder(json.JSONEncoder):
             return str(obj)
 
 
-def serialize_result_info(error: str, suc: bool, return_value=None) -> str:
+def get_result_info_str(error: str, suc: bool, return_value=None) -> str:
     """
     序列化任务执行结果信息
 
@@ -81,3 +81,21 @@ def serialize_result_info(error: str, suc: bool, return_value=None) -> str:
     result_info = {"error": error, "suc": suc, "return_value": return_value}
 
     return json.dumps(result_info, ensure_ascii=False, cls=ResultInfoEncoder)
+
+
+
+def serialize_result_info(error: str, suc: bool, return_value=None) -> dict:
+    """
+    序列化任务执行结果信息
+
+    Args:
+        error: 错误信息字符串
+        suc: 是否成功的布尔值
+        return_value: 返回值，可以是任何类型
+
+    Returns:
+        JSON字符串格式的结果信息
+    """
+    result_info = {"error": error, "suc": suc, "return_value": return_value}
+
+    return json.loads(json.dumps(result_info, ensure_ascii=False, cls=ResultInfoEncoder))