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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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16
unilabos/ros/nodes/base_device_node.py
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@@ -629,7 +629,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
execution_success = False
action_return_value = None
self.lab_logger().info(f"执行动作: {action_name}")
##### self.lab_logger().info(f"执行动作: {action_name}")
goal = goal_handle.request
# 从目标消息中提取参数, 并调用对应的方法
@@ -685,14 +685,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
final_resource = [convert_resources_to_type([i], final_type)[0] for i in resources_list]
action_kwargs[k] = self.resource_tracker.figure_resource(final_resource)
self.lab_logger().info(f"准备执行: {action_kwargs}, 函数: {ACTION.__name__}")
##### self.lab_logger().info(f"准备执行: {action_kwargs}, 函数: {ACTION.__name__}")
time_start = time.time()
time_overall = 100
# 将阻塞操作放入线程池执行
if asyncio.iscoroutinefunction(ACTION):
try:
self.lab_logger().info(f"异步执行动作 {ACTION}")
##### self.lab_logger().info(f"异步执行动作 {ACTION}")
future = ROS2DeviceNode.run_async_func(ACTION, trace_error=False, **action_kwargs)
def _handle_future_exception(fut):
@@ -702,7 +702,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
execution_success = True
except Exception as e:
execution_error = traceback.format_exc()
error(f"异步任务 {ACTION.__name__} 报错了")
##### error(f"异步任务 {ACTION.__name__} 报错了")
error(traceback.format_exc())
future.add_done_callback(_handle_future_exception)
@@ -710,7 +710,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
self.lab_logger().error(f"创建异步任务失败: {traceback.format_exc()}")
raise e
else:
self.lab_logger().info(f"同步执行动作 {ACTION}")
##### self.lab_logger().info(f"同步执行动作 {ACTION}")
future = self._executor.submit(ACTION, **action_kwargs)
def _handle_future_exception(fut):
@@ -765,7 +765,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
self.lab_logger().info(f"动作 {action_name} 已取消")
return action_type.Result()
self.lab_logger().info(f"动作执行完成: {action_name}")
##### self.lab_logger().info(f"动作执行完成: {action_name}")
del future
# 向Host更新物料当前状态
@@ -801,7 +801,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
# 发布结果
goal_handle.succeed()
self.lab_logger().info(f"设置动作成功: {action_name}")
##### self.lab_logger().info(f"设置动作成功: {action_name}")
result_values = {}
for msg_name, attr_name in action_value_mapping["result"].items():
@@ -820,7 +820,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
elif attr_name == "return_info":
setattr(result_msg, attr_name, serialize_result_info(execution_error, execution_success, action_return_value))
self.lab_logger().info(f"动作 {action_name} 完成并返回结果")
##### self.lab_logger().info(f"动作 {action_name} 完成并返回结果")
return result_msg
return execute_callback