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ws test version 2

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Xuwznln
2025-09-02 18:29:05 +08:00
parent e3b8164f6b
commit f4d4eb06d3
3 changed files with 42 additions and 126 deletions
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15
unilabos/ros/nodes/presets/host_node.py
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@@ -233,12 +233,12 @@ class HostNode(BaseROS2DeviceNode):
client: HTTPClient = bridge
resource_start_time = time.time()
# resource_add_res = client.resource_add(add_schema(resource_with_parent_name), False)
resource_add_res = client.resource_add(add_schema(resource_with_parent_name), False)
resource_end_time = time.time()
self.lab_logger().info(
f"[Host Node-Resource] 物料上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
)
# resource_add_res = client.resource_edge_add(self.resources_edge_config, False)
resource_add_res = client.resource_edge_add(self.resources_edge_config, False)
resource_edge_end_time = time.time()
self.lab_logger().info(
f"[Host Node-Resource] 物料关系上传 {round(resource_edge_end_time - resource_end_time, 5) * 1000} ms"
@@ -707,7 +707,6 @@ class HostNode(BaseROS2DeviceNode):
def get_result_callback(self, item: "QueueItem", action_id: str, future) -> None:
"""获取结果回调"""
job_id = item.job_id
self._device_action_status[f"/devices/{item.device_id}/{item.action_name}"].job_ids.pop(item.job_id)
result_msg = future.result().result
result_data = convert_from_ros_msg(result_msg)
status = "success"
@@ -738,16 +737,6 @@ class HostNode(BaseROS2DeviceNode):
for bridge in self.bridges:
if hasattr(bridge, "publish_job_status"):
bridge.publish_job_status(result_data, item, status, return_info_str)
# 如果是WebSocket客户端，通知任务完成
if hasattr(bridge, "_finish_job_callback_status"):
import asyncio
free = True # 任务完成，设备空闲
need_more = 0.0 # 任务结束，不需要更多时间
try:
asyncio.create_task(bridge._finish_job_callback_status(job_id, free, need_more))
except Exception as e:
self.lab_logger().error(f"[Host Node] Error finishing job callback status: {e}")
def cancel_goal(self, goal_uuid: str) -> None:
"""取消目标"""