open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/dptech-corp/Uni-Lab-OS.git synced 2026-02-06 23:15:10 +00:00
Code Issues Packages Projects Releases Wiki Activity

修复静态方法识别get status，注册表支持python类型

Browse Source
This commit is contained in:
Xuwznln
2025-06-28 12:18:30 +08:00
parent 9be6e1069a
commit be0a73eb19
14 changed files with 60 additions and 1024 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
unilabos/registry/registry.py
View File

@@ -7,7 +7,7 @@ from typing import Any, Dict, List
import yaml
from unilabos.ros.msgs.message_converter import msg_converter_manager, ros_action_to_json_schema
from unilabos.ros.msgs.message_converter import msg_converter_manager, ros_action_to_json_schema, String
from unilabos.utils import logger
from unilabos.utils.decorator import singleton
from unilabos.utils.import_manager import get_enhanced_class_info
@@ -180,6 +180,13 @@ class Registry:
if not type_name or type_name == "":
logger.warning(f"[UniLab Registry] 设备 {device_id} 的 {field_name} 类型为空，跳过替换")
return type_name
convert_manager = { # 将python基本对象转为ros2基本对象
"str": "String",
"bool": "Bool",
"int": "Int64",
"float": "Float64",
}
type_name = convert_manager.get(type_name, type_name) # 替换为ROS2类型
if ":" in type_name:
type_class = msg_converter_manager.get_class(type_name)
else:
@@ -297,6 +304,7 @@ class Registry:
device_config["class"]["action_value_mappings"] = {}
enhanced_info = {}
if complete_registry:
device_config["class"]["status_types"].clear()
enhanced_info = get_enhanced_class_info(device_config["class"]["module"], use_dynamic=True)
device_config["class"]["status_types"].update(
{k: v["return_type"] for k, v in enhanced_info["status_methods"].items()}
@@ -306,11 +314,14 @@ class Registry:
status_type = "String" # 替换成ROS的String，便于显示
device_config["class"]["status_types"][status_name] = status_type
target_type = self._replace_type_with_class(status_type, device_id, f"状态 {status_name}")
if target_type in [dict]: # 对于字典和对象的返回类型，要处理成字符串，直接进行转换
target_type = String
status_str_type_mapping[status_type] = target_type
device_config["class"]["status_types"] = dict(
sorted(device_config["class"]["status_types"].items())
)
if complete_registry:
device_config["class"]["action_value_mappings"] = {k:v for k, v in device_config["class"]["action_value_mappings"].items() if not k.startswith("auto-")}
# 处理动作值映射
device_config["class"]["action_value_mappings"].update(
{