From ae712e35abe1b7f9e0e078d47fcadbd41588cd42 Mon Sep 17 00:00:00 2001 From: zhangshixiang <@zhangshixiang> Date: Tue, 8 Jul 2025 14:45:14 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9moveit=5Finterface=EF=BC=8C?= =?UTF-8?q?=E5=B9=B6=E5=9C=A8mqtt=E4=B8=8A=E6=8A=A5=E6=97=B6=E5=8F=91?= =?UTF-8?q?=E9=80=81=E4=B8=80=E4=B8=AA=E6=97=B6=E9=97=B4=E6=88=B3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- unilabos/app/mq.py | 4 ++-- unilabos/devices/ros_dev/moveit_interface.py | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/unilabos/app/mq.py b/unilabos/app/mq.py index ac744c9..1dbfba9 100644 --- a/unilabos/app/mq.py +++ b/unilabos/app/mq.py @@ -159,10 +159,10 @@ class MQTTClient: # status = device_status.get(device_id, {}) if self.mqtt_disable: return - status = {"data": device_status.get(device_id, {}), "device_id": device_id} + status = {"data": device_status.get(device_id, {}), "device_id": device_id, "timestamp": time.time()} address = f"labs/{MQConfig.lab_id}/devices/" self.client.publish(address, json.dumps(status), qos=2) - logger.debug(f"Device status published: address: {address}, {status}") + logger.info(f"Device status published: address: {address}, {status}") def publish_job_status(self, feedback_data: dict, job_id: str, status: str, return_info: Optional[str] = None): if self.mqtt_disable: diff --git a/unilabos/devices/ros_dev/moveit_interface.py b/unilabos/devices/ros_dev/moveit_interface.py index d065403..81c2d11 100644 --- a/unilabos/devices/ros_dev/moveit_interface.py +++ b/unilabos/devices/ros_dev/moveit_interface.py @@ -17,7 +17,7 @@ class MoveitInterface: tf_buffer: Buffer tf_listener: TransformListener - def __init__(self, moveit_type, joint_poses, rotation=None, device_config=None): + def __init__(self, moveit_type, joint_poses, rotation=None, device_config=None, **kwargs): self.device_config = device_config self.rotation = rotation self.data_config = json.load(