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修复property类型的Action执行失败 #30

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Merged
Xuwznln merged 1 commit into from
May 17, 2025
Merged

修复property类型的Action执行失败 #30

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23 changes: 17 additions & 6 deletions unilabos/ros/nodes/base_device_node.py
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Original file line number Diff line number Diff line change
@@ -1,3 +1,4 @@
import functools
import json
import threading
import time
Expand Down Expand Up @@ -486,6 +487,17 @@ def create_ros_action_server(self, action_name, action_value_mapping):

self.lab_logger().debug(f"发布动作: {action_name}, 类型: {str_action_type}")

def get_real_function(self, instance, attr_name):
if hasattr(instance.__class__, attr_name):
obj = getattr(instance.__class__, attr_name)
if isinstance(obj, property):
return lambda *args, **kwargs: obj.fset(instance, *args, **kwargs), get_type_hints(obj.fset)
obj = getattr(instance, attr_name)
return obj, get_type_hints(obj)
else:
obj = getattr(instance, attr_name)
return obj, get_type_hints(obj)

def _create_execute_callback(self, action_name, action_value_mapping):
"""创建动作执行回调函数"""

Expand All @@ -500,17 +512,16 @@ def ACTION(**kwargs):
for i, action in enumerate(self._action_value_mappings["sequence"]):
if i == 0:
self.lab_logger().info(f"执行序列动作第一步: {action}")
getattr(self.driver_instance, action)(**kwargs)
self.get_real_function(self.driver_instance, action)[0](**kwargs)
else:
self.lab_logger().info(f"执行序列动作后续步骤: {action}")
getattr(self.driver_instance, action)()
self.get_real_function(self.driver_instance, action)[0]()

action_paramtypes = get_type_hints(
getattr(self.driver_instance, self._action_value_mappings["sequence"][0])
)
self.get_real_function(self.driver_instance, self._action_value_mappings["sequence"][0])
)[1]
else:
ACTION = getattr(self.driver_instance, action_name)
action_paramtypes = get_type_hints(ACTION)
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}")
Expand Down