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Fix skills exec error with action type

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This commit is contained in:
Xuwznln
2026-04-13 20:16:00 +08:00
parent eaf8ad5609
commit 36e5ff804c
3 changed files with 16 additions and 4 deletions
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1
unilabos/app/web/client.py
View File

@@ -152,6 +152,7 @@ class HTTPClient:
logger.error(f"查询物料失败: {response.text}") logger.error(f"查询物料失败: {response.text}")
else: else:
data = res["data"]["nodes"] data = res["data"]["nodes"]
logger.trace(f"resource_tree_get查询到物料: {data}")
return data return data
else: else:
logger.error(f"查询物料失败: {response.text}") logger.error(f"查询物料失败: {response.text}")

18
unilabos/ros/nodes/base_device_node.py
View File

@@ -1712,7 +1712,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
if future is not None: if future is not None:
if isinstance(future, Task): if isinstance(future, Task):
# rclpy Task：直接 await，完成瞬间唤醒 # rclpy Task：直接 await，完成瞬间唤醒
_raw_result = await future try:
_raw_result = await future
except Exception as e:
_raw_result = e
else: else:
# concurrent.futures.Future（同步 action）：用 rclpy 兼容的轮询 # concurrent.futures.Future（同步 action）：用 rclpy 兼容的轮询
_poll_future = Future() _poll_future = Future()
@@ -1723,7 +1726,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
future.add_done_callback(_on_sync_done) future.add_done_callback(_on_sync_done)
await _poll_future await _poll_future
_raw_result = future.result() try:
_raw_result = future.result()
except Exception as e:
_raw_result = e
# 确保 execution_error/success 被正确设置（不依赖 done callback 时序） # 确保 execution_error/success 被正确设置（不依赖 done callback 时序）
if isinstance(_raw_result, BaseException): if isinstance(_raw_result, BaseException):
@@ -1749,8 +1755,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
# self.lab_logger().info(f"动作执行完成: {action_name}") # self.lab_logger().info(f"动作执行完成: {action_name}")
del future del future
# 执行失败时跳过物料状态更新
if execution_error:
execution_success = False
# 向Host更新物料当前状态 # 向Host更新物料当前状态
if action_name not in ["create_resource_detailed", "create_resource"]: if not execution_error and action_name not in ["create_resource_detailed", "create_resource"]:
for k, v in goal.get_fields_and_field_types().items(): for k, v in goal.get_fields_and_field_types().items():
if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]: if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
continue continue
@@ -1806,7 +1816,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
for attr_name in result_msg_types.keys(): for attr_name in result_msg_types.keys():
if attr_name in ["success", "reached_goal"]: if attr_name in ["success", "reached_goal"]:
setattr(result_msg, attr_name, True) setattr(result_msg, attr_name, execution_success)
elif attr_name == "return_info": elif attr_name == "return_info":
setattr( setattr(
result_msg, result_msg,

1
unilabos/ros/nodes/presets/host_node.py
View File

@@ -1175,6 +1175,7 @@ class HostNode(BaseROS2DeviceNode):
resource_response = http_client.resource_tree_get(uuid_list, with_children) resource_response = http_client.resource_tree_get(uuid_list, with_children)
response.response = json.dumps(resource_response) response.response = json.dumps(resource_response)
self.lab_logger().trace(f"[Host Node-Resource] Resource tree get request callback {response.response}")
async def _resource_tree_action_remove_callback(self, data: dict, response: SerialCommand_Response): async def _resource_tree_action_remove_callback(self, data: dict, response: SerialCommand_Response):
""" """