新增direct_end参数

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)

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

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:]