From aaa86314e376d75e6d137190d87b48fb60f67ee4 Mon Sep 17 00:00:00 2001
From: Xuwznln <18435084+Xuwznln@users.noreply.github.com>
Date: Sun, 8 Jun 2025 15:34:16 +0800
Subject: [PATCH] =?UTF-8?q?=E5=90=8C=E6=AD=A5=E6=89=A7=E8=A1=8C=E7=8A=B6?=
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---
 unilabos/ros/nodes/base_device_node.py  |  8 ++++++--
 unilabos/ros/nodes/presets/host_node.py | 13 ++++++++++---
 2 files changed, 16 insertions(+), 5 deletions(-)

diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py
index 95e3f0c7..67cdb6f9 100644
--- a/unilabos/ros/nodes/base_device_node.py
+++ b/unilabos/ros/nodes/base_device_node.py
@@ -660,8 +660,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     future = ROS2DeviceNode.run_async_func(ACTION, trace_error=False, **action_kwargs)
 
                     def _handle_future_exception(fut):
+                        nonlocal execution_error, execution_success, action_return_value
                         try:
-                            fut.result()
+                            action_return_value = fut.result()
+                            execution_success = True
                         except Exception as e:
                             execution_error = traceback.format_exc()
                             error(f"异步任务 {ACTION.__name__} 报错了")
@@ -676,8 +678,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 future = self._executor.submit(ACTION, **action_kwargs)
 
                 def _handle_future_exception(fut):
+                    nonlocal execution_error, execution_success, action_return_value
                     try:
-                        fut.result()
+                        action_return_value = fut.result()
+                        execution_success = True
                     except Exception as e:
                         execution_error = traceback.format_exc()
                         error(f"同步任务 {ACTION.__name__} 报错了")
diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py
index 91a9fa5a..be9c9779 100644
--- a/unilabos/ros/nodes/presets/host_node.py
+++ b/unilabos/ros/nodes/presets/host_node.py
@@ -612,17 +612,23 @@ class HostNode(BaseROS2DeviceNode):
 
     def get_result_callback(self, action_id: str, uuid_str: Optional[str], future) -> None:
         """获取结果回调"""
-        import json
-
         result_msg = future.result().result
         result_data = convert_from_ros_msg(result_msg)
+        status = "success"
+        try:
+            ret = json.loads(result_data.get("return_info", "{}"))  # 确保返回信息是有效的JSON
+            suc = ret.get("suc", False)
+            if not suc:
+                status = "failed"
+        except json.JSONDecodeError:
+            status = "failed"
         self.lab_logger().info(f"[Host Node] Result for {action_id} ({uuid_str}): success")
         self.lab_logger().debug(f"[Host Node] Result data: {result_data}")
 
         if uuid_str:
             for bridge in self.bridges:
                 if hasattr(bridge, "publish_job_status"):
-                    bridge.publish_job_status(result_data, uuid_str, "success", result_data.get("return_info", "{}"))
+                    bridge.publish_job_status(result_data, uuid_str, status, result_data.get("return_info", "{}"))
 
     def cancel_goal(self, goal_uuid: str) -> None:
         """取消目标"""
@@ -862,6 +868,7 @@ class HostNode(BaseROS2DeviceNode):
         测试网络延迟的action实现
         通过5次ping-pong机制校对时间误差并计算实际延迟
         """
+        raise ValueError("test")
         import time
         import uuid as uuid_module