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临时兼容错误的driver写法

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Xuwznln
2025-08-12 19:20:53 +08:00
parent e8c1f76dbb
commit e570ba4976
5 changed files with 41 additions and 30 deletions
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62
unilabos/ros/nodes/base_device_node.py
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@@ -656,6 +656,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
action_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
self.lab_logger().debug(f"任务 {ACTION.__name__} 接收到原始目标: {action_kwargs}")
error_skip = False
# 向Host查询物料当前状态，如果是host本身的增加物料的请求，则直接跳过
if action_name not in ["create_resource_detailed", "create_resource"]:
for k, v in goal.get_fields_and_field_types().items():
@@ -665,7 +666,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
# TODO: resource后面需要分组
only_one_resource = False
try:
if len(action_kwargs[k]) > 1:
if isinstance(action_kwargs[k], list) and len(action_kwargs[k]) > 1:
for i in action_kwargs[k]:
r = ResourceGet.Request()
r.id = i["id"] # splash optional
@@ -695,17 +696,43 @@ class BaseROS2DeviceNode(Node, Generic[T]):
final_resource = convert_resources_to_type(resources_list, final_type)
else:
final_resource = [convert_resources_to_type([i], final_type)[0] for i in resources_list]
action_kwargs[k] = self.resource_tracker.figure_resource(final_resource)
try:
action_kwargs[k] = self.resource_tracker.figure_resource(final_resource)
except Exception as e:
self.lab_logger().error(f"物料实例获取失败: {e}\n{traceback.format_exc()}")
error_skip = True
execution_error = traceback.format_exc()
break
##### self.lab_logger().info(f"准备执行: {action_kwargs}, 函数: {ACTION.__name__}")
time_start = time.time()
time_overall = 100
future = None
# 将阻塞操作放入线程池执行
if asyncio.iscoroutinefunction(ACTION):
try:
##### self.lab_logger().info(f"异步执行动作 {ACTION}")
future = ROS2DeviceNode.run_async_func(ACTION, trace_error=False, **action_kwargs)
if not error_skip:
# 将阻塞操作放入线程池执行
if asyncio.iscoroutinefunction(ACTION):
try:
##### self.lab_logger().info(f"异步执行动作 {ACTION}")
future = ROS2DeviceNode.run_async_func(ACTION, trace_error=False, **action_kwargs)
def _handle_future_exception(fut):
nonlocal execution_error, execution_success, action_return_value
try:
action_return_value = fut.result()
execution_success = True
except Exception as e:
execution_error = traceback.format_exc()
error(f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}")
error(traceback.format_exc())
future.add_done_callback(_handle_future_exception)
except Exception as e:
execution_error = traceback.format_exc()
execution_success = False
self.lab_logger().error(f"创建异步任务失败: {traceback.format_exc()}")
else:
##### self.lab_logger().info(f"同步执行动作 {ACTION}")
future = self._executor.submit(ACTION, **action_kwargs)
def _handle_future_exception(fut):
nonlocal execution_error, execution_success, action_return_value
@@ -713,28 +740,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
action_return_value = fut.result()
execution_success = True
except Exception as e:
execution_error = traceback.format_exc()
error(f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}")
error(traceback.format_exc())
error(f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}")
future.add_done_callback(_handle_future_exception)
except Exception as e:
execution_error = traceback.format_exc()
execution_success = False
self.lab_logger().error(f"创建异步任务失败: {traceback.format_exc()}")
else:
##### self.lab_logger().info(f"同步执行动作 {ACTION}")
future = self._executor.submit(ACTION, **action_kwargs)
def _handle_future_exception(fut):
nonlocal execution_error, execution_success, action_return_value
try:
action_return_value = fut.result()
execution_success = True
except Exception as e:
error(f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}")
future.add_done_callback(_handle_future_exception)
action_type = action_value_mapping["type"]
feedback_msg_types = action_type.Feedback.get_fields_and_field_types()