feat: add trace log level

unilabos/ros/nodes/base_device_node.py

@@ -51,7 +51,7 @@ from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
 from unilabos.ros.x.rclpyx import get_event_loop
 from unilabos.ros.utils.driver_creator import ProtocolNodeCreator, PyLabRobotCreator, DeviceClassCreator
 from unilabos.utils.async_util import run_async_func
-from unilabos.utils.log import info, debug, warning, error, critical, logger
+from unilabos.utils.log import info, debug, warning, error, critical, logger, trace
 from unilabos.utils.type_check import get_type_class, TypeEncoder, serialize_result_info
 
 T = TypeVar("T")
@@ -82,6 +82,7 @@ class ROSLoggerAdapter:
         self.level_2_logger_func = {
             "info": info,
             "debug": debug,
+            "trace": trace,
             "warning": warning,
             "error": error,
             "critical": critical,
@@ -96,6 +97,10 @@ class ROSLoggerAdapter:
         ros_log_func(msg)
         self.level_2_logger_func[level](msg, *args, stack_level=1, **kwargs)
 
+    def trace(self, msg, *args, **kwargs):
+        """记录TRACE级别日志"""
+        self._log("trace", msg, *args, **kwargs)
+
     def debug(self, msg, *args, **kwargs):
         """记录DEBUG级别日志"""
         self._log("debug", msg, *args, **kwargs)
@@ -175,12 +180,12 @@ class PropertyPublisher:
         self.timer = node.create_timer(self.timer_period, self.publish_property)
         self.__loop = get_event_loop()
         str_msg_type = str(msg_type)[8:-2]
-        self.node.lab_logger().debug(f"发布属性: {name}, 类型: {str_msg_type}, 周期: {initial_period}秒")
+        self.node.lab_logger().trace(f"发布属性: {name}, 类型: {str_msg_type}, 周期: {initial_period}秒")
 
     def get_property(self):
         if asyncio.iscoroutinefunction(self.get_method):
             # 如果是异步函数，运行事件循环并等待结果
-            self.node.lab_logger().debug(f"【PropertyPublisher.get_property】获取异步属性: {self.name}")
+            self.node.lab_logger().trace(f"【PropertyPublisher.get_property】获取异步属性: {self.name}")
             loop = self.__loop
             if loop:
                 future = asyncio.run_coroutine_threadsafe(self.get_method(), loop)
@@ -191,28 +196,28 @@ class PropertyPublisher:
                 return None
         else:
             # 如果是同步函数，直接调用并返回结果
-            self.node.lab_logger().debug(f"【PropertyPublisher.get_property】获取同步属性: {self.name}")
+            self.node.lab_logger().trace(f"【PropertyPublisher.get_property】获取同步属性: {self.name}")
             self._value = self.get_method()
             return self._value
 
     async def get_property_async(self):
         try:
             # 获取异步属性值
-            self.node.lab_logger().debug(f"【PropertyPublisher.get_property_async】异步获取属性: {self.name}")
+            self.node.lab_logger().trace(f"【PropertyPublisher.get_property_async】异步获取属性: {self.name}")
             self._value = await self.get_method()
         except Exception as e:
             self.node.lab_logger().error(f"【PropertyPublisher.get_property_async】获取异步属性出错: {str(e)}")
 
     def publish_property(self):
         try:
-            self.node.lab_logger().debug(f"【PropertyPublisher.publish_property】开始发布属性: {self.name}")
+            self.node.lab_logger().trace(f"【PropertyPublisher.publish_property】开始发布属性: {self.name}")
             value = self.get_property()
             if self.print_publish:
-                self.node.lab_logger().info(f"【PropertyPublisher.publish_property】发布 {self.msg_type}: {value}")
+                self.node.lab_logger().trace(f"【PropertyPublisher.publish_property】发布 {self.msg_type}: {value}")
             if value is not None:
                 msg = convert_to_ros_msg(self.msg_type, value)
                 self.publisher_.publish(msg)
-                self.node.lab_logger().debug(f"【PropertyPublisher.publish_property】属性 {self.name} 发布成功")
+                self.node.lab_logger().trace(f"【PropertyPublisher.publish_property】属性 {self.name} 发布成功")
         except Exception as e:
             self.node.lab_logger().error(f"【PropertyPublisher.publish_property】发布属性 {self.publisher_.topic} 出错: {str(e)}\n{traceback.format_exc()}")
 
@@ -606,7 +611,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             callback_group=ReentrantCallbackGroup(),
         )
 
-        self.lab_logger().debug(f"发布动作: {action_name}, 类型: {str_action_type}")
+        self.lab_logger().trace(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):

unilabos/ros/nodes/presets/host_node.py

@@ -1,3 +1,4 @@
+import collections
 import copy
 import json
 import threading
@@ -254,7 +255,7 @@ class HostNode(BaseROS2DeviceNode):
         检测ROS2网络中的所有设备节点，并为它们创建ActionClient
         同时检测设备离线情况
         """
-        self.lab_logger().debug("[Host Node] Discovering devices in the network...")
+        self.lab_logger().trace("[Host Node] Discovering devices in the network...")
 
         # 获取当前所有设备
         nodes_and_names = self.get_node_names_and_namespaces()
@@ -303,7 +304,7 @@ class HostNode(BaseROS2DeviceNode):
 
         # 更新在线设备列表
         self._online_devices = current_devices
-        self.lab_logger().debug(f"[Host Node] Total online devices: {len(self._online_devices)}")
+        self.lab_logger().trace(f"[Host Node] Total online devices: {len(self._online_devices)}")
 
     def _discovery_devices_callback(self) -> None:
         """
@@ -335,7 +336,7 @@ class HostNode(BaseROS2DeviceNode):
                     self._action_clients[action_id] = ActionClient(
                         self, action_type, action_id, callback_group=self.callback_group
                     )
-                    self.lab_logger().debug(f"[Host Node] Created ActionClient (Discovery): {action_id}")
+                    self.lab_logger().trace(f"[Host Node] Created ActionClient (Discovery): {action_id}")
                     action_name = action_id[len(namespace) + 1 :]
                     edge_device_id = namespace[9:]
                     # from unilabos.app.mq import mqtt_client
@@ -476,7 +477,7 @@ class HostNode(BaseROS2DeviceNode):
             if action_id not in self._action_clients:
                 action_type = action_value_mapping["type"]
                 self._action_clients[action_id] = ActionClient(self, action_type, action_id)
-                self.lab_logger().debug(
+                self.lab_logger().trace(
                     f"[Host Node] Created ActionClient (Local): {action_id}"
                 )  # 子设备再创建用的是Discover发现的
                 # from unilabos.app.mq import mqtt_client
@@ -521,7 +522,7 @@ class HostNode(BaseROS2DeviceNode):
                         self.device_status_timestamps[device_id] = {}
 
                     # 默认初始化属性值为 None
-                    self.device_status[device_id][property_name] = None
+                    self.device_status[device_id] = collections.defaultdict()
                     self.device_status_timestamps[device_id][property_name] = 0  # 初始化时间戳
 
                     # 动态创建订阅
@@ -539,7 +540,7 @@ class HostNode(BaseROS2DeviceNode):
                             )
                             # 标记为已订阅
                             self._subscribed_topics.add(topic)
-                            self.lab_logger().debug(f"[Host Node] Subscribed to new topic: {topic}")
+                            self.lab_logger().trace(f"[Host Node] Subscribed to new topic: {topic}")
                     except (NameError, SyntaxError) as e:
                         self.lab_logger().error(f"[Host Node] Failed to create subscription for topic {topic}: {e}")
 
@@ -557,10 +558,15 @@ class HostNode(BaseROS2DeviceNode):
         # 更新设备状态字典
         if hasattr(msg, "data"):
             bChange = False
+            bCreate = False
             if isinstance(msg.data, (float, int, str)):
-                if self.device_status[device_id][property_name] != msg.data:
+                if property_name not in self.device_status[device_id]:
+                    bCreate = True
                     bChange = True
-                self.device_status[device_id][property_name] = msg.data
+                    self.device_status[device_id][property_name] = msg.data
+                elif self.device_status[device_id][property_name] != msg.data:
+                    bChange = True
+                    self.device_status[device_id][property_name] = msg.data
                 # 更新时间戳
                 self.device_status_timestamps[device_id][property_name] = time.time()
             else:
@@ -573,9 +579,14 @@ class HostNode(BaseROS2DeviceNode):
                 for bridge in self.bridges:
                     if hasattr(bridge, "publish_device_status"):
                         bridge.publish_device_status(self.device_status, device_id, property_name)
-                        self.lab_logger().debug(
-                           f"[Host Node] Status updated: {device_id}.{property_name} = {msg.data}"
-                        )
+                        if bCreate:
+                            self.lab_logger().trace(
+                                f"Status created: {device_id}.{property_name} = {msg.data}"
+                            )
+                        else:
+                            self.lab_logger().debug(
+                               f"Status updated: {device_id}.{property_name} = {msg.data}"
+                            )
 
     def send_goal(
         self,

unilabos/ros/nodes/presets/protocol_node.py

@@ -151,7 +151,7 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
                     except Exception as ex:
                         self.lab_logger().error(f"创建动作客户端失败: {action_id}, 错误: {ex}")
                         continue
-                    self.lab_logger().debug(f"为子设备 {device_id} 创建动作客户端: {action_name}")
+                    self.lab_logger().trace(f"为子设备 {device_id} 创建动作客户端: {action_name}")
         return d
 
     def create_ros_action_server(self, action_name, action_value_mapping):
@@ -171,7 +171,7 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
             callback_group=ReentrantCallbackGroup(),
         )
 
-        self.lab_logger().debug(f"发布动作: {action_name}, 类型: {str_action_type}")
+        self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}")
 
     def _create_protocol_execute_callback(self, protocol_name, protocol_steps_generator):
         async def execute_protocol(goal_handle: ServerGoalHandle):