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https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2025-12-17 13:01:12 +00:00
fix cancel error
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Xuwznln
@@ -261,29 +261,28 @@ class DeviceActionManager:
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device_key = job_info.device_action_key
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# 如果是正在执行的任务
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if (
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device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id
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): # 后面需要和cancel_goal进行联动，而不是在这里进行处理，现在默认等待这个job结束
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# del self.active_jobs[device_key]
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# job_info.status = JobStatus.ENDED
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# # 从all_jobs中移除
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# del self.all_jobs[job_id]
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# job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
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# logger.info(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
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if device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id:
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# 清理active job状态
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del self.active_jobs[device_key]
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job_info.status = JobStatus.ENDED
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# 从all_jobs中移除
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del self.all_jobs[job_id]
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job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
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logger.info(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
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# # 启动下一个任务
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# if device_key in self.device_queues and self.device_queues[device_key]:
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# next_job = self.device_queues[device_key].pop(0)
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# # 将下一个job设置为READY状态并放入active_jobs
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# next_job.status = JobStatus.READY
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# next_job.update_timestamp()
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# next_job.set_ready_timeout(10)
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# self.active_jobs[device_key] = next_job
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# next_job_log = format_job_log(next_job.job_id, next_job.task_id,
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# next_job.device_id, next_job.action_name)
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# logger.info(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
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# return True
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pass
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# 启动下一个任务
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if device_key in self.device_queues and self.device_queues[device_key]:
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next_job = self.device_queues[device_key].pop(0)
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# 将下一个job设置为READY状态并放入active_jobs
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next_job.status = JobStatus.READY
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next_job.update_timestamp()
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next_job.set_ready_timeout(10)
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self.active_jobs[device_key] = next_job
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next_job_log = format_job_log(
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next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
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)
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logger.info(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
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return True
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# 如果是排队中的任务
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elif device_key in self.device_queues:
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@@ -741,31 +740,51 @@ class MessageProcessor:
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job_info.action_name if job_info else "",
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)
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# 按job_id取消单个job
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# 先通知HostNode取消ROS2 action（如果存在）
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host_node = HostNode.get_instance(0)
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ros_cancel_success = False
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if host_node:
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ros_cancel_success = host_node.cancel_goal(job_id)
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if ros_cancel_success:
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logger.info(f"[MessageProcessor] ROS2 cancel request sent for job {job_log}")
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else:
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logger.debug(
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f"[MessageProcessor] Job {job_log} not in ROS2 goals " "(may be queued or already finished)"
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)
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# 按job_id取消单个job（清理状态机）
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success = self.device_manager.cancel_job(job_id)
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if success:
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# 通知HostNode取消
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host_node = HostNode.get_instance(0)
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if host_node:
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host_node.cancel_goal(job_id)
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logger.info(f"[MessageProcessor] Job {job_log} cancelled")
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logger.info(f"[MessageProcessor] Job {job_log} cancelled from queue/active list")
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# 通知QueueProcessor有队列更新
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if self.queue_processor:
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self.queue_processor.notify_queue_update()
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else:
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logger.warning(f"[MessageProcessor] Failed to cancel job {job_log}")
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logger.warning(f"[MessageProcessor] Failed to cancel job {job_log} from queue")
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elif task_id:
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# 按task_id取消所有相关job
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# 先通知HostNode取消所有ROS2 actions
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# 需要先获取所有相关job_ids
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jobs_to_cancel = []
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with self.device_manager.lock:
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jobs_to_cancel = [
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job_info for job_info in self.device_manager.all_jobs.values() if job_info.task_id == task_id
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]
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host_node = HostNode.get_instance(0)
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if host_node and jobs_to_cancel:
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ros_cancelled_count = 0
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for job_info in jobs_to_cancel:
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if host_node.cancel_goal(job_info.job_id):
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ros_cancelled_count += 1
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logger.info(
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f"[MessageProcessor] Sent ROS2 cancel for " f"{ros_cancelled_count}/{len(jobs_to_cancel)} jobs"
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)
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# 按task_id取消所有相关job（清理状态机）
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cancelled_job_ids = self.device_manager.cancel_jobs_by_task_id(task_id)
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if cancelled_job_ids:
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# 通知HostNode取消所有job
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host_node = HostNode.get_instance(0)
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if host_node:
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for cancelled_job_id in cancelled_job_ids:
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host_node.cancel_goal(cancelled_job_id)
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logger.info(f"[MessageProcessor] Cancelled {len(cancelled_job_ids)} jobs for task_id: {task_id}")
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# 通知QueueProcessor有队列更新
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@@ -1056,11 +1075,19 @@ class QueueProcessor:
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"""处理任务完成"""
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# 获取job信息用于日志
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job_info = self.device_manager.get_job_info(job_id)
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# 如果job不存在，说明可能已被手动取消
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if not job_info:
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logger.debug(
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f"[QueueProcessor] Job {job_id[:8]} not found in manager " "(may have been cancelled manually)"
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)
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return
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job_log = format_job_log(
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job_id,
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job_info.task_id if job_info else "",
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job_info.device_id if job_info else "",
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job_info.action_name if job_info else "",
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job_info.task_id,
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job_info.device_id,
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job_info.action_name,
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)
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logger.info(f"[QueueProcessor] Job {job_log} completed with status: {status}")
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