open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/dptech-corp/Uni-Lab-OS.git synced 2025-12-17 13:01:12 +00:00
Code Issues Packages Projects Releases Wiki Activity

Update registry. Update uuid loop figure method. Update install docs.

Browse Source
This commit is contained in:
Xuwznln
2025-10-12 22:38:04 +08:00
parent 40fb1ea49c
commit 9fa3688196
8 changed files with 285 additions and 65 deletions
Download Patch File Download Diff File Expand all files Collapse all files

27
unilabos/ros/nodes/presets/workstation.py
View File

@@ -1,13 +1,8 @@
import json
import time
import traceback
<<<<<<<< HEAD:unilabos/ros/nodes/presets/workstation.py
from pprint import pformat
from typing import List, Dict, Any, Optional, TYPE_CHECKING
========
from pprint import pprint, saferepr, pformat
from typing import Union
>>>>>>>> main:unilabos/ros/nodes/presets/protocol_node.py
import rclpy
from rosidl_runtime_py import message_to_ordereddict
@@ -198,13 +193,8 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
execute_callback=self._create_protocol_execute_callback(action_name, protocol_steps_generator),
callback_group=ReentrantCallbackGroup(),
)
<<<<<<<< HEAD:unilabos/ros/nodes/presets/workstation.py
self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}")
return
========
self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}")
>>>>>>>> main:unilabos/ros/nodes/presets/protocol_node.py
def _create_protocol_execute_callback(self, protocol_name, protocol_steps_generator):
async def execute_protocol(goal_handle: ServerGoalHandle):
@@ -255,15 +245,10 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
logs.append(step)
elif isinstance(step, list):
logs.append(step)
<<<<<<<< HEAD:unilabos/ros/nodes/presets/workstation.py
self.lab_logger().info(
f"Goal received: {protocol_kwargs}, running steps: "
f"{json.dumps(logs, indent=4, ensure_ascii=False)}"
)
========
self.lab_logger().info(f"Goal received: {protocol_kwargs}, running steps: "
f"{json.dumps(logs, indent=4, ensure_ascii=False)}")
>>>>>>>> main:unilabos/ros/nodes/presets/protocol_node.py
time_start = time.time()
time_overall = 100
@@ -278,7 +263,6 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
time.sleep(action["action_kwargs"]["time"])
step_results.append({"step": i + 1, "action": "wait", "result": "completed"})
else:
<<<<<<<< HEAD:unilabos/ros/nodes/presets/workstation.py
try:
result = await self.execute_single_action(**action)
step_results.append({"step": i + 1, "action": action["action_name"], "result": result})
@@ -289,13 +273,6 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
step_results.append(
{"step": i + 1, "action": action["action_name"], "result": ex.args[0]}
)
========
result = await self.execute_single_action(**action)
step_results.append({"step": i + 1, "action": action["action_name"], "result": result})
ret_info = json.loads(getattr(result, "return_info", "{}"))
if not ret_info.get("suc", False):
raise RuntimeError(f"Step {i + 1} failed.")
>>>>>>>> main:unilabos/ros/nodes/presets/protocol_node.py
elif isinstance(action, list):
# 如果是并行动作，同时执行
actions = action
@@ -333,7 +310,6 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
except Exception as e:
# 捕获并记录错误信息
<<<<<<<< HEAD:unilabos/ros/nodes/presets/workstation.py
str_step_results = [
{
k: dict(message_to_ordereddict(v)) if k == "result" and hasattr(v, "SLOT_TYPES") else v
@@ -341,9 +317,6 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
}
for i in step_results
]
========
str_step_results = [{k: dict(message_to_ordereddict(v)) if k == "result" and hasattr(v, "SLOT_TYPES") else v for k, v in i.items()} for i in step_results]
>>>>>>>> main:unilabos/ros/nodes/presets/protocol_node.py
execution_error = f"{traceback.format_exc()}\n\nStep Result: {pformat(str_step_results)}"
execution_success = False
self.lab_logger().error(f"协议 {protocol_name} 执行出错: {str(e)} \n{traceback.format_exc()}")