optimize gripper code

ctrlgui/ctrlgui_node.py

@@ -117,14 +117,11 @@ class CtrlGuiNode(Node):
         ui.notify(f'BT action {action_name} accepted', color='positive')
 
         get_result_future = goal_handle.get_result_async()
+        get_result_future.add_done_callback(self.bt_action_done_callback)
         
         while not get_result_future.done():
             await asyncio.sleep(0.1)
 
-        result = get_result_future.result()
-        bt_result = result.result
-        status = result.status
-        self.file_logger.info(f'BT Action Result: {bt_result}, Status: {status}')
         ui.notify(f'BT Action {action_name} finished', color='info')
 
     def bt_action_feedback_callback(self, feedback_msg):
@@ -133,6 +130,14 @@ class CtrlGuiNode(Node):
         self.file_logger.info(f'BT Action Feedback: {feedback}')
         print(f'BT Action Feedback: {feedback}')
 
+    def bt_action_done_callback(self, future):
+        """Callback for BT action completion."""
+        result = future.result()
+        bt_result = result.result
+        status = result.status
+        self.file_logger.info(f'BT Action Finished - Result: {bt_result}, Status: {status}')
+        print(f'BT Action Finished - Result: {bt_result}, Status: {status}')
+
     async def call_gripper_action(self, id, loc, speed, torq, mode):
         import asyncio
         gm = GripperCmd.Goal()
@@ -161,10 +166,10 @@ class CtrlGuiNode(Node):
         ui.notify(f'Gripper {id} action accepted', color='positive')
         
         result_future = goal_handle.get_result_async()
+        result_future.add_done_callback(self.gripper_action_done_callback)
         while not result_future.done():
             await asyncio.sleep(0.1)
             
-        result = result_future.result()
         ui.notify(f'Gripper {id} action finished', color='info')
 
     def gripper_action_feedback_callback(self, feedback_msg):
@@ -179,6 +184,12 @@ class CtrlGuiNode(Node):
         if hasattr(goal_feedback, 'torque'):
             print(f"Feedback Torque: {goal_feedback.torque}")
 
+    def gripper_action_done_callback(self, future):
+        """Callback for gripper action completion."""
+        result = future.result()
+        self.file_logger.info('Gripper action finished')
+        print('Gripper action finished')
+
     def _on_arm_error(self, msg: ArmError) -> None:
         """Callback for /arm_errors subscription."""
         self.last_arm_error[msg.arm_id] = msg
@@ -502,19 +513,38 @@ def build_ui(node: CtrlGuiNode) -> None:
             )).classes('self-end')
 
         with ui.column():
-            # with ui.row():
-            gripper_width = ui.input('width(0~255)', value=0).style('width: 100px')
+            with ui.row():
+                gripper_width = ui.input('width(0~255)', value=100).style('width: 100px')
+                gripper_torque = ui.input('torque(0~255)', value=50).style('width: 100px')
+                
+            with ui.row():
+                gripper_speed = ui.input('speed(0~255)', value=150).style('width: 100px')
+                gripper_mode = ui.select(['位置模式', '力矩模式', "both"], value='位置模式').style('width: 100px')
+            with ui.row():
+                gripper_id = ui.select(['夹爪0', '夹爪1'], value='夹爪0').style('width: 100px')
+
             async def gripper_control(id) -> None:
                 try:
-                    print(f"Gripper {id} Send Action Start..")
-                    await node.call_gripper_action(id, int(gripper_width.value), 50, 50, 2)
-                    print(f"Gripper {id} Send Action Goal Finish")
+                    id_value = 0
+                    if id == '夹爪0':
+                        id_value = 0
+                    else:
+                        id_value = 1
+                    print(f"Gripper {id_value} Send Action Start..")
+                    mode = 0
+                    if gripper_mode.value == "both":
+                        mode = 2
+                    elif gripper_mode.value == "力矩模式":
+                        mode = 1
+                    
+                    node.file_logger.info(f"Gripper {id_value}, speed {gripper_speed.value}, torque={gripper_torque.value}, width={gripper_width.value}, mode={mode} Send Action Start..")
+                    await node.call_gripper_action(id_value, int(gripper_width.value), int(gripper_torque.value), int(gripper_speed.value), mode)
+                    print(f"Gripper {id_value} Send Action Goal Finish")
                 except Exception as e:
                     node.file_logger.error(f'Failed to gripper action send goal: {str(e)}')
 
             # ui.element().style('height: 40px')
-            ui.button('控制夹爪0', on_click=lambda: show_confirm_dialog(f'确定控制夹爪0? gripper width: {gripper_width.value}', lambda: gripper_control(0))).classes('self-end')
-            ui.button('控制夹爪1', on_click=lambda: show_confirm_dialog(f'确定控制夹爪1? gripper width: {gripper_width.value}', lambda: gripper_control(1))).classes('self-end')
+            ui.button('控制夹爪', on_click=lambda: show_confirm_dialog(f'确定控制夹爪? gripper width: {gripper_width.value}, torque: {gripper_torque.value}, speed: {gripper_speed.value}, mode: {gripper_mode.value}, id: {gripper_id.value}', lambda: gripper_control((gripper_id.value)))).classes('self-end')
 
         #move wheel
         with ui.column():