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修改moveit_interface，并在mqtt上报时发送一个时间戳

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zhangshixiang
2025-07-08 14:45:14 +08:00
parent eb5a196bc7
commit ae712e35ab
2 changed files with 3 additions and 3 deletions
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4
unilabos/app/mq.py
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@@ -159,10 +159,10 @@ class MQTTClient:
# status = device_status.get(device_id, {}) # status = device_status.get(device_id, {})
if self.mqtt_disable: if self.mqtt_disable:
return 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/" address = f"labs/{MQConfig.lab_id}/devices/"
self.client.publish(address, json.dumps(status), qos=2) 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): def publish_job_status(self, feedback_data: dict, job_id: str, status: str, return_info: Optional[str] = None):
if self.mqtt_disable: if self.mqtt_disable:

2
unilabos/devices/ros_dev/moveit_interface.py
View File

@@ -17,7 +17,7 @@ class MoveitInterface:
tf_buffer: Buffer tf_buffer: Buffer
tf_listener: TransformListener 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.device_config = device_config
self.rotation = rotation self.rotation = rotation
self.data_config = json.load( self.data_config = json.load(