From a8973ea92b8d6c3276335a3c42cdcbe93f711674 Mon Sep 17 00:00:00 2001
From: Xuwznln <18435084+Xuwznln@users.noreply.github.com>
Date: Fri, 12 Sep 2025 18:07:46 +0800
Subject: [PATCH] =?UTF-8?q?=E6=96=B0=E5=A2=9Edirect=5Fend=E5=8F=82?=
 =?UTF-8?q?=E6=95=B0?=
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---
 unilabos/app/main.py                    | 6 ++++++
 unilabos/config/config.py               | 1 +
 unilabos/ros/nodes/presets/host_node.py | 3 +++
 3 files changed, 10 insertions(+)

diff --git a/unilabos/app/main.py b/unilabos/app/main.py
index e565f86d..295069c5 100644
--- a/unilabos/app/main.py
+++ b/unilabos/app/main.py
@@ -139,6 +139,11 @@ def parse_args():
         action="store_true",
         help="跳过启动时的环境依赖检查",
     )
+    parser.add_argument(
+        "--direct_end",
+        action="store_true",
+        help="直接结束任务",
+    )
     return parser
 
 
@@ -212,6 +217,7 @@ def main():
 
     # 设置BasicConfig参数
     BasicConfig.working_dir = working_dir
+    BasicConfig.direct_end = args_dict.get("direct_end", False)
     BasicConfig.is_host_mode = not args_dict.get("without_host", False)
     BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
     BasicConfig.upload_registry = args_dict.get("upload_registry", False)
diff --git a/unilabos/config/config.py b/unilabos/config/config.py
index 44bcc25a..510ac6b4 100644
--- a/unilabos/config/config.py
+++ b/unilabos/config/config.py
@@ -17,6 +17,7 @@ class BasicConfig:
     machine_name = "undefined"
     vis_2d_enable = False
     enable_resource_load = True
+    direct_end = False
 
 
 # MQTT配置
diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py
index 5fe90684..84534065 100644
--- a/unilabos/ros/nodes/presets/host_node.py
+++ b/unilabos/ros/nodes/presets/host_node.py
@@ -619,6 +619,9 @@ class HostNode(BaseROS2DeviceNode):
             goal_uuid: 目标UUID，如果为None则自动生成
             server_info: 服务器发送信息，包含发送时间戳等
         """
+        if BasicConfig.direct_end:
+            raise ValueError("direct_end")
+
         if action_type.startswith("UniLabJsonCommand"):
             if action_name.startswith("auto-"):
                 action_name = action_name[5:]