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Merge remote-tracking branch 'upstream/dev' into device_visualization

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zhangshixiang
2025-05-06 23:39:22 +08:00
parent 3d607db49a ed2858a610
commit 8617b1284f
51 changed files with 2792 additions and 201 deletions
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6
unilabos/ros/utils/driver_creator.py
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@@ -219,12 +219,14 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
logger.error(f"PyLabRobot反序列化失败: {deserialize_error}")
logger.error(f"PyLabRobot反序列化堆栈: {stack}")
return self.device_instance
return self.device_instance
def post_create(self):
if hasattr(self.device_instance, "setup") and asyncio.iscoroutinefunction(getattr(self.device_instance, "setup")):
from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
ROS2DeviceNode.run_async_func(getattr(self.device_instance, "setup")).add_done_callback(lambda x: logger.debug(f"PyLabRobot设备实例 {self.device_instance} 设置完成"))
def done_cb(*args):
logger.debug(f"PyLabRobot设备实例 {self.device_instance} 设置完成")
ROS2DeviceNode.run_async_func(getattr(self.device_instance, "setup")).add_done_callback(done_cb)
class ProtocolNodeCreator(DeviceClassCreator[T]):