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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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50
unilabos/ros/nodes/presets/host_node.py
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@@ -39,6 +39,7 @@ from unilabos.ros.msgs.message_converter import (
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker
from unilabos.ros.nodes.presets.controller_node import ControllerNode
from unilabos.utils.exception import DeviceClassInvalid
from unilabos.utils.type_check import serialize_result_info
class HostNode(BaseROS2DeviceNode):
@@ -408,10 +409,11 @@ class HostNode(BaseROS2DeviceNode):
liquid_volume: list[int],
slot_on_deck: str,
):
# 暂不支持多对同名父子同时存在
res_creation_input = {
"name": res_id,
"name": res_id.split("/")[-1],
"class": class_name,
"parent": parent,
"parent": parent.split("/")[-1],
"position": {
"x": bind_locations.x,
"y": bind_locations.y,
@@ -419,18 +421,20 @@ class HostNode(BaseROS2DeviceNode):
},
}
if len(liquid_input_slot) and liquid_input_slot[0] == -1: # 目前container只逐个创建
res_creation_input.update({
"data": {
"liquid_type": liquid_type[0] if liquid_type else None,
"liquid_volume": liquid_volume[0] if liquid_volume else None,
res_creation_input.update(
{
"data": {
"liquid_type": liquid_type[0] if liquid_type else None,
"liquid_volume": liquid_volume[0] if liquid_volume else None,
}
}
})
)
init_new_res = initialize_resource(res_creation_input) # flatten的格式
if len(init_new_res) > 1: # 一个物料，多个子节点
init_new_res = [init_new_res]
resources: List[Resource] | List[List[Resource]] = init_new_res # initialize_resource已经返回list[dict]
device_ids = [device_id]
bind_parent_id = [parent]
bind_parent_id = [res_creation_input["parent"]]
bind_location = [bind_locations]
other_calling_param = [
json.dumps(
@@ -680,20 +684,34 @@ class HostNode(BaseROS2DeviceNode):
result_msg = future.result().result
result_data = convert_from_ros_msg(result_msg)
status = "success"
try:
ret = json.loads(result_data.get("return_info", "{}")) # 确保返回信息是有效的JSON
suc = ret.get("suc", False)
if not suc:
return_info_str = result_data.get("return_info")
if return_info_str is not None:
try:
ret = json.loads(return_info_str)
suc = ret.get("suc", False)
if not suc:
status = "failed"
except json.JSONDecodeError:
status = "failed"
except json.JSONDecodeError:
status = "failed"
self.lab_logger().info(f"[Host Node] Result for {action_id} ({uuid_str}): success")
else:
# 无 return_info 字段时，回退到 success 字段（若存在）
suc_field = result_data.get("success")
if isinstance(suc_field, bool):
status = "success" if suc_field else "failed"
return_info_str = serialize_result_info("", suc_field, result_data)
else:
# 最保守的回退：标记失败并返回空JSON
status = "failed"
return_info_str = serialize_result_info("缺少return_info", False, result_data)
self.lab_logger().info(f"[Host Node] Result for {action_id} ({uuid_str}): {status}")
self.lab_logger().debug(f"[Host Node] Result data: {result_data}")
if uuid_str:
for bridge in self.bridges:
if hasattr(bridge, "publish_job_status"):
bridge.publish_job_status(result_data, uuid_str, status, result_data.get("return_info", "{}"))
bridge.publish_job_status(result_data, uuid_str, status, return_info_str)
def cancel_goal(self, goal_uuid: str) -> None:
"""取消目标"""