ci(deps): bump actions/deploy-pages from 4 to 5

Bumps [actions/deploy-pages](https://github.com/actions/deploy-pages) from 4 to 5.
- [Release notes](https://github.com/actions/deploy-pages/releases)
- [Commits](https://github.com/actions/deploy-pages/compare/v4...v5)

---
updated-dependencies:
- dependency-name: actions/deploy-pages
  dependency-version: '5'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>

.github/workflows/deploy-docs.yml

@@ -125,4 +125,4 @@ jobs:
     steps:
       - name: Deploy to GitHub Pages
         id: deployment
-        uses: actions/deploy-pages@v4
+        uses: actions/deploy-pages@v5

unilabos/app/ws_client.py

@@ -1369,10 +1369,6 @@ class WebSocketClient(BaseCommunicationClient):
         self.message_processor = MessageProcessor(self.websocket_url, self.send_queue, self.device_manager)
         self.queue_processor = QueueProcessor(self.device_manager, self.message_processor)
 
-        # running状态debounce缓存: {job_id: (last_send_timestamp, last_feedback_data)}
-        self._job_running_last_sent: Dict[str, tuple] = {}
-        self._job_running_debounce_interval: float = 10.0  # 秒
-
         # 设置相互引用
         self.message_processor.set_queue_processor(self.queue_processor)
         self.message_processor.set_websocket_client(self)
@@ -1472,32 +1468,22 @@ class WebSocketClient(BaseCommunicationClient):
             logger.debug(f"[WebSocketClient] Not connected, cannot publish job status for job_id: {item.job_id}")
             return
 
-        job_log = format_job_log(item.job_id, item.task_id, item.device_id, item.action_name)
-
         # 拦截最终结果状态，与原版本逻辑一致
         if status in ["success", "failed"]:
-            self._job_running_last_sent.pop(item.job_id, None)
-
             host_node = HostNode.get_instance(0)
             if host_node:
+                # 从HostNode的device_action_status中移除job_id
                 try:
                     host_node._device_action_status[item.device_action_key].job_ids.pop(item.job_id, None)
                 except (KeyError, AttributeError):
                     logger.warning(f"[WebSocketClient] Failed to remove job {item.job_id} from HostNode status")
 
+            # logger.debug(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}")
+
+            # 通知队列处理器job完成（包括timeout的job）
             self.queue_processor.handle_job_completed(item.job_id, status)
 
-        # running状态按job_id做debounce，内容变化时仍然上报
-        if status == "running":
-            now = time.time()
-            cached = self._job_running_last_sent.get(item.job_id)
-            if cached is not None:
-                last_ts, last_data = cached
-                if now - last_ts < self._job_running_debounce_interval and last_data == feedback_data:
-                    logger.trace(f"[WebSocketClient] Job status debounced (skip): {job_log} - {status}")
-                    return
-            self._job_running_last_sent[item.job_id] = (now, feedback_data)
-
+        # 发送job状态消息
         message = {
             "action": "job_status",
             "data": {
@@ -1513,6 +1499,7 @@ class WebSocketClient(BaseCommunicationClient):
         }
         self.message_processor.send_message(message)
 
+        job_log = format_job_log(item.job_id, item.task_id, item.device_id, item.action_name)
         logger.trace(f"[WebSocketClient] Job status published: {job_log} - {status}")
 
     def send_ping(self, ping_id: str, timestamp: float) -> None:

unilabos/ros/nodes/base_device_node.py

@@ -1256,8 +1256,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         return self._lab_logger
 
     def create_ros_publisher(self, attr_name, msg_type, initial_period=5.0):
-        """创建ROS发布者。已在 status_types 中声明的属性直接创建；@topic_config 用于覆盖默认参数。"""
-        topic_cfg = {}
+        """创建ROS发布者，仅当方法/属性有 @topic_config 装饰器时才创建。"""
+        # 检测 @topic_config 装饰器配置
+        topic_config = {}
         driver_class = type(self.driver_instance)
 
         # 区分 @property 和普通方法两种情况
@@ -1266,17 +1267,23 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         )
 
         if is_prop:
+            # @property: 检测 fget 上的 @topic_config
             class_attr = getattr(driver_class, attr_name)
             if class_attr.fget is not None:
-                topic_cfg = get_topic_config(class_attr.fget)
+                topic_config = get_topic_config(class_attr.fget)
         else:
+            # 普通方法: 直接检测 attr_name 方法上的 @topic_config
             if hasattr(self.driver_instance, attr_name):
                 method = getattr(self.driver_instance, attr_name)
                 if callable(method):
-                    topic_cfg = get_topic_config(method)
+                    topic_config = get_topic_config(method)
+
+        # 没有 @topic_config 装饰器则跳过发布
+        if not topic_config:
+            return
 
         # 发布名称优先级: @topic_config(name=...) > get_ 前缀去除 > attr_name
-        cfg_name = topic_cfg.get("name")
+        cfg_name = topic_config.get("name")
         if cfg_name:
             publish_name = cfg_name
         elif attr_name.startswith("get_"):
@@ -1284,10 +1291,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         else:
             publish_name = attr_name
 
-        # @topic_config 参数覆盖默认值
-        cfg_period = topic_cfg.get("period")
-        cfg_print = topic_cfg.get("print_publish")
-        cfg_qos = topic_cfg.get("qos")
+        # 使用装饰器配置或默认值
+        cfg_period = topic_config.get("period")
+        cfg_print = topic_config.get("print_publish")
+        cfg_qos = topic_config.get("qos")
         period: float = cfg_period if cfg_period is not None else initial_period
         print_publish: bool = cfg_print if cfg_print is not None else self._print_publish
         qos: int = cfg_qos if cfg_qos is not None else 10