open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/dptech-corp/Uni-Lab-OS.git synced 2025-12-14 13:14:39 +00:00
Code Issues Packages Projects Releases Wiki Activity

fix ros2 future

Browse Source 
print all logs to file
fix resource dict dump error
This commit is contained in:
Xuwznln
2025-12-04 16:04:56 +08:00
parent 52544a2c69
commit 9854ed8c9c
7 changed files with 43 additions and 32 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
unilabos/app/communication.py
View File

@@ -141,7 +141,7 @@ class CommunicationClientFactory:
"""
if cls._client_cache is None:
cls._client_cache = cls.create_client(protocol)
logger.info(f"[CommunicationFactory] Created {type(cls._client_cache).__name__} client")
logger.trace(f"[CommunicationFactory] Created {type(cls._client_cache).__name__} client")
return cls._client_cache

6
unilabos/app/ws_client.py
View File

@@ -389,7 +389,7 @@ class MessageProcessor:
self.is_running = True
self.thread = threading.Thread(target=self._run, daemon=True, name="MessageProcessor")
self.thread.start()
logger.info("[MessageProcessor] Started")
logger.trace("[MessageProcessor] Started")
def stop(self) -> None:
"""停止消息处理线程"""
@@ -939,7 +939,7 @@ class QueueProcessor:
# 事件通知机制
self.queue_update_event = threading.Event()
logger.info("[QueueProcessor] Initialized")
logger.trace("[QueueProcessor] Initialized")
def set_websocket_client(self, websocket_client: "WebSocketClient"):
"""设置WebSocket客户端引用"""
@@ -954,7 +954,7 @@ class QueueProcessor:
self.is_running = True
self.thread = threading.Thread(target=self._run, daemon=True, name="QueueProcessor")
self.thread.start()
logger.info("[QueueProcessor] Started")
logger.trace("[QueueProcessor] Started")
def stop(self) -> None:
"""停止队列处理线程"""

2
unilabos/resources/graphio.py
View File

@@ -97,7 +97,7 @@ def canonicalize_nodes_data(
for node in nodes:
try:
print_status(f"DeviceId: {node['id']}, Class: {node['class']}", "info")
# print_status(f"DeviceId: {node['id']}, Class: {node['class']}", "info")
# 使用标准化方法
resource_instance = ResourceDictInstance.get_resource_instance_from_dict(node)
known_nodes[node["id"]] = resource_instance

44
unilabos/ros/nodes/base_device_node.py
View File

@@ -582,7 +582,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
except Exception as e:
self.lab_logger().error(f"更新资源uuid失败: {e}")
self.lab_logger().error(traceback.format_exc())
self.lab_logger().debug(f"资源更新结果: {response}")
self.lab_logger().trace(f"资源更新结果: {response}")
async def get_resource(self, resources_uuid: List[str], with_children: bool = True) -> ResourceTreeSet:
"""
@@ -1164,7 +1164,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
execution_error = traceback.format_exc()
break
##### self.lab_logger().info(f"准备执行: {action_kwargs}, 函数: {ACTION.__name__}")
time_start = time.time()
time_overall = 100
future = None
@@ -1172,35 +1171,36 @@ class BaseROS2DeviceNode(Node, Generic[T]):
# 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}")
future = ROS2DeviceNode.run_async_func(ACTION, trace_error=False, **action_kwargs)
def _handle_future_exception(fut):
self.lab_logger().trace(f"异步执行动作 {ACTION}")
def _handle_future_exception(fut: Future):
nonlocal execution_error, execution_success, action_return_value
try:
action_return_value = fut.result()
if isinstance(action_return_value, BaseException):
raise action_return_value
execution_success = True
except Exception as e:
except Exception as _:
execution_error = traceback.format_exc()
error(
f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}"
)
future = ROS2DeviceNode.run_async_func(ACTION, trace_error=False, **action_kwargs)
future.add_done_callback(_handle_future_exception)
except Exception as e:
execution_error = traceback.format_exc()
execution_success = False
self.lab_logger().error(f"创建异步任务失败: {traceback.format_exc()}")
else:
##### self.lab_logger().info(f"同步执行动作 {ACTION}")
self.lab_logger().trace(f"同步执行动作 {ACTION}")
future = self._executor.submit(ACTION, **action_kwargs)
def _handle_future_exception(fut):
def _handle_future_exception(fut: Future):
nonlocal execution_error, execution_success, action_return_value
try:
action_return_value = fut.result()
execution_success = True
except Exception as e:
except Exception as _:
execution_error = traceback.format_exc()
error(
f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}"
@@ -1305,7 +1305,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
get_result_info_str(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().trace(f"动作 {action_name} 完成并返回结果")
return result_msg
return execute_callback
@@ -1540,17 +1540,29 @@ class ROS2DeviceNode:
这个类封装了设备类实例和ROS2节点的功能，提供ROS2接口。
它不继承设备类，而是通过代理模式访问设备类的属性和方法。
"""
@staticmethod
async def safe_task_wrapper(trace_callback, func, **kwargs):
try:
if callable(trace_callback):
trace_callback(await func(**kwargs))
return await func(**kwargs)
except Exception as e:
if callable(trace_callback):
trace_callback(e)
return e
@classmethod
def run_async_func(cls, func, trace_error=True, **kwargs) -> Task:
def _handle_future_exception(fut):
def run_async_func(cls, func, trace_error=True, inner_trace_callback=None, **kwargs) -> Task:
def _handle_future_exception(fut: Future):
try:
fut.result()
ret = fut.result()
if isinstance(ret, BaseException):
raise ret
except Exception as e:
error(f"异步任务 {func.__name__} 报错了")
error(f"异步任务 {func.__name__} 获取结果失败")
error(traceback.format_exc())
future = rclpy.get_global_executor().create_task(func(**kwargs))
future = rclpy.get_global_executor().create_task(ROS2DeviceNode.safe_task_wrapper(inner_trace_callback, func, **kwargs))
if trace_error:
future.add_done_callback(_handle_future_exception)
return future

8
unilabos/ros/nodes/presets/host_node.py
View File

@@ -718,7 +718,7 @@ class HostNode(BaseROS2DeviceNode):
feedback_callback=lambda feedback_msg: self.feedback_callback(item, action_id, feedback_msg),
goal_uuid=goal_uuid_obj,
)
future.add_done_callback(lambda future: self.goal_response_callback(item, action_id, future))
future.add_done_callback(lambda f: self.goal_response_callback(item, action_id, f))
def goal_response_callback(self, item: "QueueItem", action_id: str, future) -> None:
"""目标响应回调"""
@@ -729,9 +729,11 @@ class HostNode(BaseROS2DeviceNode):
self.lab_logger().info(f"[Host Node] Goal {action_id} ({item.job_id}) accepted")
self._goals[item.job_id] = goal_handle
goal_handle.get_result_async().add_done_callback(
lambda future: self.get_result_callback(item, action_id, future)
goal_future = goal_handle.get_result_async()
goal_future.add_done_callback(
lambda f: self.get_result_callback(item, action_id, f)
)
goal_future.result()
def feedback_callback(self, item: "QueueItem", action_id: str, feedback_msg) -> None:
"""反馈回调"""

2
unilabos/ros/nodes/resource_tracker.py
View File

@@ -155,7 +155,7 @@ class ResourceDictInstance(object):
res_dict = self.res_content.model_dump(by_alias=True)
res_dict["children"] = {child.res_content.id: child.get_plr_nested_dict() for child in self.children}
res_dict["parent"] = self.res_content.parent_instance_name
res_dict["position"] = self.res_content.position.position.model_dump()
res_dict["position"] = self.res_content.pose.position.model_dump()
del res_dict["pose"]
return res_dict

11
unilabos/utils/log.py
View File

@@ -162,8 +162,9 @@ def configure_logger(loglevel=None, working_dir=None):
"""
# 获取根日志记录器
root_logger = logging.getLogger()
root_logger.setLevel(TRACE_LEVEL)
# 设置日志级别
numeric_level = logging.DEBUG
if loglevel is not None:
if isinstance(loglevel, str):
# 将字符串转换为logging级别
@@ -173,12 +174,8 @@ def configure_logger(loglevel=None, working_dir=None):
numeric_level = getattr(logging, loglevel.upper(), None)
if not isinstance(numeric_level, int):
print(f"警告: 无效的日志级别 '{loglevel}'，使用默认级别 DEBUG")
numeric_level = logging.DEBUG
else:
numeric_level = loglevel
root_logger.setLevel(numeric_level)
else:
root_logger.setLevel(logging.DEBUG) # 默认级别
# 移除已存在的处理器
for handler in root_logger.handlers[:]:
@@ -186,7 +183,7 @@ def configure_logger(loglevel=None, working_dir=None):
# 创建控制台处理器
console_handler = logging.StreamHandler()
console_handler.setLevel(root_logger.level) # 使用与根记录器相同的级别
console_handler.setLevel(numeric_level) # 使用与根记录器相同的级别
# 使用自定义的颜色格式化器
color_formatter = ColoredFormatter()
@@ -206,7 +203,7 @@ def configure_logger(loglevel=None, working_dir=None):
# 创建文件处理器
file_handler = logging.FileHandler(log_filepath, encoding="utf-8")
file_handler.setLevel(root_logger.level)
file_handler.setLevel(TRACE_LEVEL)
# 使用不带颜色的格式化器
file_formatter = ColoredFormatter(use_colors=False)