add test mode

unilabos/ros/nodes/presets/host_node.py

@@ -51,6 +51,7 @@ from unilabos.utils import logger
 from unilabos.utils.exception import DeviceClassInvalid
 from unilabos.utils.log import warning
 from unilabos.utils.type_check import serialize_result_info
+from unilabos.config.config import BasicConfig
 
 if TYPE_CHECKING:
     from unilabos.app.ws_client import QueueItem
@@ -776,6 +777,17 @@ class HostNode(BaseROS2DeviceNode):
         u = uuid.UUID(item.job_id)
         device_id = item.device_id
         action_name = item.action_name
+
+        if BasicConfig.test_mode:
+            action_id = f"/devices/{device_id}/{action_name}"
+            self.lab_logger().info(
+                f"[TEST MODE] 模拟执行: {action_id} (job={item.job_id[:8]}), 参数: {str(action_kwargs)[:500]}"
+            )
+            # 根据注册表 handles 构建模拟返回值
+            mock_return = self._build_test_mode_return(device_id, action_name, action_kwargs)
+            self._handle_test_mode_result(item, action_id, mock_return)
+            return
+
         if action_type.startswith("UniLabJsonCommand"):
             if action_name.startswith("auto-"):
                 action_name = action_name[5:]
@@ -813,6 +825,51 @@ class HostNode(BaseROS2DeviceNode):
         )
         future.add_done_callback(lambda f: self.goal_response_callback(item, action_id, f))
 
+    def _build_test_mode_return(
+        self, device_id: str, action_name: str, action_kwargs: Dict[str, Any]
+    ) -> Dict[str, Any]:
+        """
+        根据注册表 handles 的 output 定义构建测试模式的模拟返回值
+
+        根据 data_key 中 @flatten 的层数决定嵌套数组层数，叶子值为空字典。
+        例如: "vessel" → {}, "plate.@flatten" → [{}], "a.@flatten.@flatten" → [[{}]]
+        """
+        mock_return: Dict[str, Any] = {"test_mode": True, "action_name": action_name}
+        action_mappings = self._action_value_mappings.get(device_id, {})
+        action_mapping = action_mappings.get(action_name, {})
+        handles = action_mapping.get("handles", {})
+        if isinstance(handles, dict):
+            for output_handle in handles.get("output", []):
+                data_key = output_handle.get("data_key", "")
+                handler_key = output_handle.get("handler_key", "")
+                # 根据 @flatten 层数构建嵌套数组，叶子为空字典
+                flatten_count = data_key.count("@flatten")
+                value: Any = {}
+                for _ in range(flatten_count):
+                    value = [value]
+                mock_return[handler_key] = value
+        return mock_return
+
+    def _handle_test_mode_result(
+        self, item: "QueueItem", action_id: str, mock_return: Dict[str, Any]
+    ) -> None:
+        """
+        测试模式下直接构建结果并走正常的结果回调流程（跳过 ROS）
+        """
+        job_id = item.job_id
+        status = "success"
+        return_info = serialize_result_info("", True, mock_return)
+
+        self.lab_logger().info(f"[TEST MODE] Result for {action_id} ({job_id[:8]}): {status}")
+
+        from unilabos.app.web.controller import store_job_result
+        store_job_result(job_id, status, return_info, mock_return)
+
+        # 发布状态到桥接器
+        for bridge in self.bridges:
+            if hasattr(bridge, "publish_job_status"):
+                bridge.publish_job_status(mock_return, item, status, return_info)
+
     def goal_response_callback(self, item: "QueueItem", action_id: str, future) -> None:
         """目标响应回调"""
         goal_handle = future.result()