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stir和adjustph的中的bug修不好

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KCFeng425
2025-07-18 00:28:12 +08:00
parent 6b7564b9f9
commit 79df194ca0
7 changed files with 328 additions and 121 deletions
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62
unilabos/ros/msgs/message_converter.py
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@@ -509,68 +509,68 @@ def convert_from_ros_msg_with_mapping(ros_msg: Any, value_mapping: Dict[str, str
"""
data: Dict[str, Any] = {}
# 🔧 添加调试信息
print(f"🔍 convert_from_ros_msg_with_mapping 开始")
print(f"🔍 ros_msg 类型: {type(ros_msg)}")
print(f"🔍 ros_msg 内容: {ros_msg}")
print(f"🔍 value_mapping: {value_mapping}")
print("-" * 60)
# # 🔧 添加调试信息
# print(f"🔍 convert_from_ros_msg_with_mapping 开始")
# print(f"🔍 ros_msg 类型: {type(ros_msg)}")
# print(f"🔍 ros_msg 内容: {ros_msg}")
# print(f"🔍 value_mapping: {value_mapping}")
# print("-" * 60)
for msg_name, attr_name in value_mapping.items():
print(f"🔍 处理映射: {msg_name} -> {attr_name}")
# print(f"🔍 处理映射: {msg_name} -> {attr_name}")
msg_path = msg_name.split(".")
current = ros_msg
print(f"🔍 msg_path: {msg_path}")
print(f"🔍 current 初始值: {current} (类型: {type(current)})")
# print(f"🔍 msg_path: {msg_path}")
# print(f"🔍 current 初始值: {current} (类型: {type(current)})")
try:
if not attr_name.endswith("[]"):
# 处理单值映射
print(f"🔍 处理单值映射")
# print(f"🔍 处理单值映射")
for i, name in enumerate(msg_path):
print(f"🔍 步骤 {i}: 获取属性 '{name}' 从 {type(current)}")
# print(f"🔍 步骤 {i}: 获取属性 '{name}' 从 {type(current)}")
if hasattr(current, name):
current = getattr(current, name)
print(f"🔍 获取到: {current} (类型: {type(current)})")
# print(f"🔍 获取到: {current} (类型: {type(current)})")
else:
print(f"❌ 属性 '{name}' 不存在于 {type(current)}")
# print(f"❌ 属性 '{name}' 不存在于 {type(current)}")
break
converted_value = convert_from_ros_msg(current)
print(f"🔍 转换后的值: {converted_value} (类型: {type(converted_value)})")
# print(f"🔍 转换后的值: {converted_value} (类型: {type(converted_value)})")
data[attr_name] = converted_value
print(f"✅ 设置 data['{attr_name}'] = {converted_value}")
# print(f"✅ 设置 data['{attr_name}'] = {converted_value}")
else:
# 处理列表值映射
print(f"🔍 处理列表值映射")
# print(f"🔍 处理列表值映射")
for i, name in enumerate(msg_path):
print(f"🔍 列表步骤 {i}: 处理 '{name}' 从 {type(current)}")
# print(f"🔍 列表步骤 {i}: 处理 '{name}' 从 {type(current)}")
if name.endswith("[]"):
base_name = name[:-2]
print(f"🔍 数组字段 base_name: '{base_name}'")
# print(f"🔍 数组字段 base_name: '{base_name}'")
if hasattr(current, base_name):
current = list(getattr(current, base_name))
print(f"🔍 获取数组: {current} (长度: {len(current)})")
# print(f"🔍 获取数组: {current} (长度: {len(current)})")
else:
print(f"❌ 数组字段 '{base_name}' 不存在")
# print(f"❌ 数组字段 '{base_name}' 不存在")
current = []
break
else:
if isinstance(current, list):
print(f"🔍 从列表中获取属性 '{name}'")
# print(f"🔍 从列表中获取属性 '{name}'")
next_level = []
for item in current:
if hasattr(item, name):
next_level.append(getattr(item, name))
current = next_level
print(f"🔍 列表处理结果: {current} (长度: {len(current)})")
# print(f"🔍 列表处理结果: {current} (长度: {len(current)})")
elif hasattr(current, name):
current = getattr(current, name)
print(f"🔍 获取到属性: {current} (类型: {type(current)})")
# print(f"🔍 获取到属性: {current} (类型: {type(current)})")
else:
print(f"❌ 属性 '{name}' 不存在")
# print(f"❌ 属性 '{name}' 不存在")
current = []
break
@@ -578,20 +578,20 @@ def convert_from_ros_msg_with_mapping(ros_msg: Any, value_mapping: Dict[str, str
if current:
converted_list = [convert_from_ros_msg(item) for item in current]
data[attr_key] = converted_list
print(f"✅ 设置 data['{attr_key}'] = {converted_list}")
# print(f"✅ 设置 data['{attr_key}'] = {converted_list}")
else:
print(f"⚠️ 列表为空，跳过 '{attr_key}'")
except (AttributeError, TypeError) as e:
print(f"❌ 映射转换错误 {msg_name} -> {attr_name}: {e}")
# print(f"❌ 映射转换错误 {msg_name} -> {attr_name}: {e}")
logger.debug(f"Mapping conversion error for {msg_name} -> {attr_name}")
continue
print(f"🔍 当前 data 状态: {data}")
print("-" * 40)
# print(f"🔍 当前 data 状态: {data}")
# print("-" * 40)
print(f"🔍 convert_from_ros_msg_with_mapping 结束")
print(f"🔍 最终 data: {data}")
print("=" * 60)
#print(f"🔍 convert_from_ros_msg_with_mapping 结束")
#print(f"🔍 最终 data: {data}")
#print("=" * 60)
return data