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fix protocol node log_message, added create_resource return value

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Xuwznln
2025-09-19 05:36:47 +08:00
parent da4bd927e0
commit 6f8f070f40
1 changed files with 12 additions and 5 deletions
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17
unilabos/ros/nodes/presets/protocol_node.py
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@@ -28,6 +28,9 @@ from unilabos.utils.log import error
from unilabos.utils.type_check import serialize_result_info, get_result_info_str
class ROS2ProtocolNodeTempError(Exception):
pass
class ROS2ProtocolNode(BaseROS2DeviceNode):
"""
ROS2ProtocolNode代表管理ROS2环境中设备通信和动作的协议节点。
@@ -246,11 +249,14 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
time.sleep(action["action_kwargs"]["time"])
step_results.append({"step": i + 1, "action": "wait", "result": "completed"})
else:
result = await self.execute_single_action(**action)
step_results.append({"step": i + 1, "action": action["action_name"], "result": result})
ret_info = json.loads(getattr(result, "return_info", "{}"))
if not ret_info.get("suc", False):
raise RuntimeError(f"Step {i + 1} failed.")
try:
result = await self.execute_single_action(**action)
step_results.append({"step": i + 1, "action": action["action_name"], "result": result})
ret_info = json.loads(getattr(result, "return_info", "{}"))
if not ret_info.get("suc", False):
raise RuntimeError(f"Step {i + 1} failed.")
except ROS2ProtocolNodeTempError as ex:
step_results.append({"step": i + 1, "action": action["action_name"], "result": ex.args[0]})
elif isinstance(action, list):
# 如果是并行动作，同时执行
actions = action
@@ -327,6 +333,7 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
# 构建动作ID
if action_name == "log_message":
self.lab_logger().info(f"[Protocol Log] {action_kwargs}")
raise ROS2ProtocolNodeTempError(f"[Protocol Log] {action_kwargs}")
if device_id in ["", None, "self"]:
action_id = f"/devices/{self.device_id}/{action_name}"
else: