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修复不启用注册表补充就无法启动的bug

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Xuwznln
2025-06-28 01:32:10 +08:00
parent 15f3f8518b
commit 817e88cfc4
1 changed files with 21 additions and 20 deletions
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41
unilabos/registry/registry.py
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@@ -298,9 +298,9 @@ class Registry:
enhanced_info = {}
if complete_registry:
enhanced_info = get_enhanced_class_info(device_config["class"]["module"], use_dynamic=True)
device_config["class"]["status_types"].update(
{k: v["return_type"] for k, v in enhanced_info["status_methods"].items()}
)
device_config["class"]["status_types"].update(
{k: v["return_type"] for k, v in enhanced_info["status_methods"].items()}
)
for status_name, status_type in device_config["class"]["status_types"].items():
if status_type in ["Any", "None"]:
status_type = "String" # 替换成ROS的String，便于显示
@@ -310,24 +310,25 @@ class Registry:
device_config["class"]["status_types"] = dict(
sorted(device_config["class"]["status_types"].items())
)
# 处理动作值映射
device_config["class"]["action_value_mappings"].update(
{
f"auto-{k}": {
"type": "UniLabJsonCommandAsync" if v["is_async"] else "UniLabJsonCommand",
"goal": {},
"feedback": {},
"result": {},
"schema": self._generate_unilab_json_command_schema(v["args"], k),
"goal_default": {i["name"]: i["default"] for i in v["args"]},
"handles": [],
if complete_registry:
# 处理动作值映射
device_config["class"]["action_value_mappings"].update(
{
f"auto-{k}": {
"type": "UniLabJsonCommandAsync" if v["is_async"] else "UniLabJsonCommand",
"goal": {},
"feedback": {},
"result": {},
"schema": self._generate_unilab_json_command_schema(v["args"], k),
"goal_default": {i["name"]: i["default"] for i in v["args"]},
"handles": [],
}
for k, v in enhanced_info["action_methods"].items()
}
for k, v in enhanced_info["action_methods"].items()
}
)
device_config["init_param_schema"] = self._generate_unilab_json_command_schema(
enhanced_info["init_params"], "__init__"
)
)
device_config["init_param_schema"] = self._generate_unilab_json_command_schema(
enhanced_info["init_params"], "__init__"
)
device_config.pop("schema", None)
device_config["class"]["action_value_mappings"] = dict(
sorted(device_config["class"]["action_value_mappings"].items())