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fix handles not as default entry

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This commit is contained in:
Xuwznln
2025-06-06 18:13:53 +08:00
parent 48c43d3303
commit c7b9c6a825
1 changed files with 4 additions and 1 deletions
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5
unilabos/registry/registry.py
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@@ -64,6 +64,7 @@ class Registry:
"goal_default": yaml.safe_load( "goal_default": yaml.safe_load(
io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuter.Goal)) io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuter.Goal))
), ),
"handles": {},
}, },
"create_resource": { "create_resource": {
"type": self.ResourceCreateFromOuterEasy, "type": self.ResourceCreateFromOuterEasy,
@@ -84,6 +85,7 @@ class Registry:
"goal_default": yaml.safe_load( "goal_default": yaml.safe_load(
io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuterEasy.Goal)) io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuterEasy.Goal))
), ),
"handles": {},
}, },
"test_latency": { "test_latency": {
"type": self.EmptyIn, "type": self.EmptyIn,
@@ -92,6 +94,7 @@ class Registry:
"result": {"latency_ms": "latency_ms", "time_diff_ms": "time_diff_ms"}, "result": {"latency_ms": "latency_ms", "time_diff_ms": "time_diff_ms"},
"schema": ros_action_to_json_schema(self.EmptyIn), "schema": ros_action_to_json_schema(self.EmptyIn),
"goal_default": {}, "goal_default": {},
"handles": {},
}, },
}, },
}, },
@@ -215,7 +218,7 @@ class Registry:
if "action_value_mappings" in device_config["class"]: if "action_value_mappings" in device_config["class"]:
for action_name, action_config in device_config["class"]["action_value_mappings"].items(): for action_name, action_config in device_config["class"]["action_value_mappings"].items():
if "handles" not in action_config: if "handles" not in action_config:
device_config["handles"] = [] action_config["handles"] = []
if "type" in action_config: if "type" in action_config:
action_config["type"] = self._replace_type_with_class( action_config["type"] = self._replace_type_with_class(
action_config["type"], device_id, f"动作 {action_name}" action_config["type"], device_id, f"动作 {action_name}"