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Merge branch 'main' into 24-high-level-liquidhandler

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This commit is contained in:
Xuwznln
2025-05-19 17:24:13 +08:00
committed by GitHub
parent 1ca7d4912b 53b6457a88
commit 7b8638aa03
1 changed files with 17 additions and 6 deletions
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23
unilabos/ros/nodes/base_device_node.py
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@@ -1,4 +1,5 @@
import copy
import functools
import json
import threading
import time
@@ -513,6 +514,17 @@ class BaseROS2DeviceNode(Node, Generic[T]):
self.lab_logger().debug(f"发布动作: {action_name}, 类型: {str_action_type}")
def get_real_function(self, instance, attr_name):
if hasattr(instance.__class__, attr_name):
obj = getattr(instance.__class__, attr_name)
if isinstance(obj, property):
return lambda *args, **kwargs: obj.fset(instance, *args, **kwargs), get_type_hints(obj.fset)
obj = getattr(instance, attr_name)
return obj, get_type_hints(obj)
else:
obj = getattr(instance, attr_name)
return obj, get_type_hints(obj)
def _create_execute_callback(self, action_name, action_value_mapping):
"""创建动作执行回调函数"""
@@ -527,17 +539,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
for i, action in enumerate(self._action_value_mappings["sequence"]):
if i == 0:
self.lab_logger().info(f"执行序列动作第一步: {action}")
getattr(self.driver_instance, action)(**kwargs)
self.get_real_function(self.driver_instance, action)[0](**kwargs)
else:
self.lab_logger().info(f"执行序列动作后续步骤: {action}")
getattr(self.driver_instance, action)()
self.get_real_function(self.driver_instance, action)[0]()
action_paramtypes = get_type_hints(
getattr(self.driver_instance, self._action_value_mappings["sequence"][0])
)
self.get_real_function(self.driver_instance, self._action_value_mappings["sequence"][0])
)[1]
else:
ACTION = getattr(self.driver_instance, action_name)
action_paramtypes = get_type_hints(ACTION)
ACTION, action_paramtypes = self.get_real_function(self.driver_instance, action_name)
action_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
self.lab_logger().debug(f"接收到原始目标: {action_kwargs}")