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同步执行状态信息

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Xuwznln
2025-06-08 15:34:16 +08:00
parent 6a14104e6b
commit aaa86314e3
2 changed files with 16 additions and 5 deletions
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8
unilabos/ros/nodes/base_device_node.py
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@@ -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")