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fix: unit conversion

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feat: better attr publisher log
This commit is contained in:
wznln
2025-04-23 15:04:08 +08:00
parent 0cd11fa46b
commit f476b40983
6 changed files with 39 additions and 33 deletions
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10
unilabos/ros/nodes/presets/serial_node.py
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@@ -47,7 +47,7 @@ class ROS2SerialNode(BaseROS2DeviceNode):
self.lab_logger().info(f"【ROS2SerialNode.__init__】创建串口写入服务: serialwrite")
def send_command(self, command: str):
self.lab_logger().info(f"【ROS2SerialNode.send_command】发送命令: {command}")
# self.lab_logger().debug(f"【ROS2SerialNode.send_command】发送命令: {command}")
with self._query_lock:
if self._closing:
self.lab_logger().error(f"【ROS2SerialNode.send_command】设备正在关闭，无法发送命令")
@@ -59,23 +59,23 @@ class ROS2SerialNode(BaseROS2DeviceNode):
response = self.hardware_interface.write(full_command_data)
# time.sleep(0.05)
output = self._receive(self.hardware_interface.read_until(b"\n"))
self.lab_logger().info(f"【ROS2SerialNode.send_command】接收响应: {output}")
# self.lab_logger().debug(f"【ROS2SerialNode.send_command】接收响应: {output}")
return output
def read_data(self):
self.lab_logger().debug(f"【ROS2SerialNode.read_data】读取数据")
# self.lab_logger().debug(f"【ROS2SerialNode.read_data】读取数据")
with self._query_lock:
if self._closing:
self.lab_logger().error(f"【ROS2SerialNode.read_data】设备正在关闭，无法读取数据")
raise RuntimeError
data = self.hardware_interface.read_until(b"\n")
result = self._receive(data)
self.lab_logger().debug(f"【ROS2SerialNode.read_data】读取到数据: {result}")
# self.lab_logger().debug(f"【ROS2SerialNode.read_data】读取到数据: {result}")
return result
def _receive(self, data: bytes):
ascii_string = "".join(chr(byte) for byte in data)
self.lab_logger().debug(f"【ROS2SerialNode._receive】接收数据: {ascii_string}")
# self.lab_logger().debug(f"【ROS2SerialNode._receive】接收数据: {ascii_string}")
return ascii_string
def handle_serial_request(self, request, response):