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增加注册表版本参数，支持将auto-指令人工检查后非auto，不生成人工已检查的指令，取消不必要的description生成

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This commit is contained in:
Xuwznln
2025-07-16 01:05:16 +08:00
parent 10cb645191
commit f9aae44174
24 changed files with 247 additions and 4286 deletions
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2
unilabos/ros/nodes/base_device_node.py
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@@ -307,7 +307,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
# 创建动作服务
if self.create_action_server:
for action_name, action_value_mapping in self._action_value_mappings.items():
if action_name.startswith("auto-"):
if action_name.startswith("auto-") or str(action_value_mapping.get("type", "")).startswith("UniLabJsonCommand"):
continue
self.create_ros_action_server(action_name, action_value_mapping)

2
unilabos/ros/nodes/presets/host_node.py
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@@ -459,7 +459,7 @@ class HostNode(BaseROS2DeviceNode):
self.devices_instances[device_id] = d
# noinspection PyProtectedMember
for action_name, action_value_mapping in d._ros_node._action_value_mappings.items():
if action_name.startswith("auto-"):
if action_name.startswith("auto-") or str(action_value_mapping.get("type", "")).startswith("UniLabJsonCommand"):
continue
action_id = f"/devices/{device_id}/{action_name}"
if action_id not in self._action_clients:

2
unilabos/ros/nodes/presets/protocol_node.py
View File

@@ -134,7 +134,7 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
if d is not None and hasattr(d, "ros_node_instance"):
node = d.ros_node_instance
for action_name, action_mapping in node._action_value_mappings.items():
if action_name.startswith("auto-"):
if action_name.startswith("auto-") or str(action_mapping.get("type", "")).startswith("UniLabJsonCommand"):
continue
action_id = f"/devices/{device_id_abs}/{action_name}"
if action_id not in self._action_clients: