open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/deepmodeling/Uni-Lab-OS synced 2026-05-24 19:06:29 +00:00
Code Issues Packages Projects Releases Wiki Activity

v0.11.3

Browse Source
This commit is contained in:
Xuwznln
2026-05-23 23:43:17 +08:00
parent 6025957c95
commit 0b3c0e3c29
14 changed files with 352 additions and 37 deletions
Download Patch File Download Diff File Expand all files Collapse all files

36
unilabos/ros/nodes/base_device_node.py
View File

@@ -45,6 +45,7 @@ from unilabos.resources.graphio import (
)
from unilabos.resources.plr_additional_res_reg import register
from unilabos.ros.msgs.message_converter import (
String,
convert_to_ros_msg,
convert_from_ros_msg_with_mapping,
convert_to_ros_msg_with_mapping,
@@ -250,7 +251,8 @@ class PropertyPublisher:
):
self.node = node
self.name = name
self.msg_type = msg_type
self.msg_type = self._normalize_msg_type(msg_type)
self.original_msg_type = msg_type
self.get_method = get_method
self.timer_period = initial_period
self.print_publish = print_publish
@@ -258,16 +260,36 @@ class PropertyPublisher:
self._value = None
try:
self.publisher_ = node.create_publisher(msg_type, f"{name}", qos)
self.publisher_ = node.create_publisher(self.msg_type, f"{name}", qos)
except Exception as e:
self.node.lab_logger().error(
f"StatusError, DeviceId: {self.node.device_id} 创建发布者 {name} 失败，可能由于注册表有误，类型: {msg_type}，错误: {e}"
f"StatusError, DeviceId: {self.node.device_id} 创建发布者 {name} 失败，"
f"可能由于注册表有误，类型: {msg_type}，错误: {e}"
)
self.msg_type = String
try:
self.publisher_ = node.create_publisher(self.msg_type, f"{name}", qos)
self.node.lab_logger().warning(
f"属性 {name} 的发布类型已降级为 String，原始类型: {msg_type}"
)
except Exception:
self.publisher_ = None
self.timer = node.create_timer(self.timer_period, self.publish_property)
self.__loop = ROS2DeviceNode.get_asyncio_loop()
str_msg_type = str(msg_type)[8:-2]
str_msg_type = str(self.msg_type)[8:-2]
self.node.lab_logger().trace(f"发布属性: {name}, 类型: {str_msg_type}, 周期: {initial_period}秒, QoS: {qos}")
@staticmethod
def _normalize_msg_type(msg_type):
if msg_type in (dict, list, tuple, set) or msg_type in ("dict", "list", "tuple", "set"):
return String
return msg_type
def _normalize_value(self, value):
if self.msg_type is String and isinstance(value, (dict, list, tuple, set)):
return json.dumps(value, ensure_ascii=False, cls=TypeEncoder)
return value
def get_property(self):
if asyncio.iscoroutinefunction(self.get_method):
# 如果是异步函数，运行事件循环并等待结果
@@ -302,12 +324,16 @@ class PropertyPublisher:
pass
# self.node.lab_logger().trace(f"【.publish_property】发布 {self.msg_type}: {value}")
if value is not None:
if self.publisher_ is None:
return
value = self._normalize_value(value)
msg = convert_to_ros_msg(self.msg_type, value)
self.publisher_.publish(msg)
# self.node.lab_logger().trace(f"【.publish_property】属性 {self.name} 发布成功")
except Exception as e:
topic = getattr(self.publisher_, "topic", self.name)
self.node.lab_logger().error(
f"【.publish_property】发布属性 {self.publisher_.topic} 出错: {str(e)}\n{traceback.format_exc()}"
f"【.publish_property】发布属性 {topic} 出错: {str(e)}\n{traceback.format_exc()}"
)
def change_frequency(self, period):