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feat: 优化protocol node节点运行日志

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Xuwznln
2025-08-10 17:31:44 +08:00
parent 662c063f50
commit fe1a029a9b
3 changed files with 54 additions and 31 deletions
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17
unilabos/ros/nodes/base_device_node.py
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@@ -654,7 +654,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
ACTION, action_paramtypes = self.get_real_function(self.driver_instance, action_name)
action_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
self.lab_logger().debug(f"接收到原始目标: {action_kwargs}")
self.lab_logger().debug(f"任务 {ACTION.__name__} 接收到原始目标: {action_kwargs}")
# 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():
@@ -699,7 +699,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
##### 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:
@@ -713,13 +713,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
execution_success = True
except Exception as e:
execution_error = traceback.format_exc()
##### error(f"异步任务 {ACTION.__name__} 报错了")
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()}")
raise e
else:
##### self.lab_logger().info(f"同步执行动作 {ACTION}")
future = self._executor.submit(ACTION, **action_kwargs)
@@ -730,9 +731,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
action_return_value = fut.result()
execution_success = True
except Exception as e:
execution_error = traceback.format_exc()
error(f"同步任务 {ACTION.__name__} 报错了")
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)
@@ -740,7 +739,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
feedback_msg_types = action_type.Feedback.get_fields_and_field_types()
result_msg_types = action_type.Result.get_fields_and_field_types()
while not future.done():
while future is not None and not future.done():
if goal_handle.is_cancel_requested:
self.lab_logger().info(f"取消动作: {action_name}")
future.cancel() # 尝试取消线程池中的任务
@@ -772,7 +771,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
goal_handle.publish_feedback(feedback_msg)
time.sleep(0.5)
if future.cancelled():
if future is not None and future.cancelled():
self.lab_logger().info(f"动作 {action_name} 已取消")
return action_type.Result()