{"id":127,"date":"2026-04-05T18:06:44","date_gmt":"2026-04-05T10:06:44","guid":{"rendered":"https:\/\/374969782.xyz\/?p=127"},"modified":"2026-04-05T18:54:08","modified_gmt":"2026-04-05T10:54:08","slug":"ros2%e5%ad%a6%e4%b9%a0%e8%ae%b0%e5%bd%95%ef%bc%885%ef%bc%89-%e5%8a%a8%e4%bd%9c","status":"publish","type":"post","link":"https:\/\/374969782.xyz\/index.php\/2026\/04\/05\/ros2%e5%ad%a6%e4%b9%a0%e8%ae%b0%e5%bd%95%ef%bc%885%ef%bc%89-%e5%8a%a8%e4%bd%9c\/","title":{"rendered":"ROS2\u5b66\u4e60\u8bb0\u5f55\uff086\uff09-\u52a8\u4f5c"},"content":{"rendered":"\n

\u52a8\u4f5c\u4e5f\u662fros2\u7684\u4e00\u79cd\u901a\u4fe1\u673a\u5236\uff0c\u76ee\u7684\u5c31\u662f\u4fbf\u4e8e\u5bf9\u673a\u5668\u4eba\u67d0\u4e00\u5b8c\u6574\u884c\u4e3a\u7684\u6d41\u7a0b\u8fdb\u884c\u7ba1\u7406<\/strong>\u3002<\/p>\n\n\n\n

\u52a8\u4f5c\u5c31\u662f\u5728\u4e0b\u4ee4\u8ba9\u673a\u5668\u4eba\u5b8c\u6210\u4ec0\u4e48\u52a8\u4f5c\u65f6\u53ca\u65f6\u53cd\u9988\uff0c\u544a\u8bc9\u5ba2\u6237\u7aef\u6267\u884c\u5230\u54ea\u4e00\u6b65\u4e86\uff0c\u5e76\u4e14\u8ba9\u5ba2\u6237\u7aef\u968f\u65f6\u53ef\u4ee5\u4e0b\u4ee4\u53d6\u6d88\u52a8\u4f5c\u3002<\/p>\n\n\n\n

\u52a8\u4f5c\u548c\u670d\u52a1\u7c7b\u4f3c\uff0c\u4f7f\u7528\u7684\u4e5f\u662f\u5ba2\u6237\u7aef\u548c\u670d\u52a1\u5668\u6a21\u578b\uff0c\u5ba2\u6237\u7aef\u53d1\u9001\u52a8\u4f5c\u7684\u76ee\u6807\uff0c\u60f3\u8ba9\u673a\u5668\u4eba\u5e72\u4ec0\u4e48\uff0c\u670d\u52a1\u5668\u7aef\u6267\u884c\u52a8\u4f5c\u8fc7\u7a0b\uff0c \u63a7\u5236\u673a\u5668\u4eba\u8fbe\u5230\u8fd0\u52a8\u7684\u76ee\u6807\uff0c\u540c\u65f6\u5468\u671f\u53cd\u9988\u52a8\u4f5c\u6267\u884c\u8fc7\u7a0b\u4e2d\u7684\u72b6\u6001\u3002<\/p>\n\n\n\n

\u56e0\u6b64\uff0c\u4e0e\u670d\u52a1\u4e00\u6837\uff0c\u670d\u52a1\u5668\u552f\u4e00\uff0c\u800c\u5ba2\u6237\u7aef\u4e0d\u552f\u4e00\u3002\u540c\u65f6\u5c5e\u4e8e\u540c\u6b65\u901a\u4fe1\u673a\u5236\u3002\u901a\u8fc7.action\u6587\u4ef6\u5b9a\u4e49\u901a\u4fe1\u63a5\u53e3\u6570\u636e\u7ed3\u6784\u3002<\/p>\n\n\n\n

\u62c6\u5f00\u4e86\u7ec6\u5206\uff0c\u52a8\u4f5c\u5176\u5b9e\u662f\u7531\u4e09\u4e2a\u5176\u4ed6\u901a\u4fe1\u6a21\u5757\u7ec4\u5408\u800c\u6210\u7684\uff0c\u5176\u4e2d\u4e24\u4e2a\u662f\u670d\u52a1\uff0c\u4e00\u4e2a\u662f\u8bdd\u9898\uff0c\u5176\u539f\u7406\u7ed3\u6784\u56fe\u5982\u4e0b\uff1a<\/p>\n\n\n\n

\"\"<\/div><\/figure>\n\n\n\n

\u673a\u5668\u4eba\u4f5c\u4e3a\u670d\u52a1\u5668\u7aef\uff0c\u7528\u6237\u7684\u64cd\u4f5c\u8bbe\u5907\u4e3a\u5ba2\u6237\u7aef\u3002\u7531\u5ba2\u6237\u7aef\u53d1\u9001\u4e00\u6761\u52a8\u4f5c\u6267\u884c\u547d\u4ee4\u540e\uff0c\u670d\u52a1\u5668\u7aef\u4f1a\u7ed9\u51fa\u56de\u5e94\u8868\u793a\u63a5\u6536\u5230\u4e86\u547d\u4ee4\u5e76\u5f00\u59cb\u6267\u884c\uff0c\u671f\u95f4\u901a\u8fc7\u8bdd\u9898\u6301\u7eed\u53d1\u5e03\u81ea\u8eab\u52a8\u4f5c\u7684\u72b6\u6001\u53c2\u6570\uff0c\u800c\u5ba2\u6237\u7aef\u8ba2\u9605\u8fd9\u4e2a\u8bdd\u9898\uff0c\u65f6\u65f6\u83b7\u53d6\u673a\u5668\u4eba\u7684\u72b6\u6001\u53c2\u6570\u3002\u52a8\u4f5c\u6267\u884c\u5b8c\u6bd5\u540e\uff0c\u8fd8\u4f1a\u5411\u5ba2\u6237\u7aef\u53cd\u9988\u5df2\u5b8c\u6210\u7684\u4fe1\u606f\u3002<\/p>\n\n\n\n

\u52a8\u4f5c\u867d\u7136\u662f\u57fa\u4e8e\u8bdd\u9898\u548c\u670d\u52a1\u5b9e\u73b0\u7684\uff0c\u4f46\u5728\u5b9e\u9645\u4f7f\u7528\u4e2d\uff0c\u5e76\u4e0d\u4f1a\u76f4\u63a5\u4f7f\u7528\u8bdd\u9898\u548c\u670d\u52a1\u7684\u7f16\u7a0b\u65b9\u6cd5\uff0c\u800c\u662f\u6709\u4e00\u5957\u9488\u5bf9\u52a8\u4f5c\u7279\u6027\u5c01\u88c5\u597d\u7684\u7f16\u7a0b\u63a5\u53e3\u3002<\/p>\n\n\n\n

\u5728\u547d\u4ee4\u884c\u7a97\u53e3\u5185\uff0c\u53ef\u4ee5\u76f4\u63a5\u6307\u5b9a\u8282\u70b9\u53d1\u9001\u6307\u5b9a\u7c7b\u578b\u7684action\uff0c\u4ee5\u6d77\u9f9f\u4e3a\u4f8b\uff0c\u5728\u547d\u4ee4\u884c\u76f4\u63a5\u64cd\u63a7\u6d77\u9f9f\u65cb\u8f6c\u53ef\u4ee5\u4f7f\u7528\u4e00\u4e0b\u6307\u4ee4\uff1a<\/p>\n\n\n\n

ros2 action send_goal \/turtle1\/rotate_absolute turtlesim\/action\/RotateAbsolute \"{theta: -1.57}\" --feedback<\/code><\/pre>\n\n\n\n
ros2\u7684\u5de5\u5177\u5305action\uff0c\u5176\u4e2d\u4e00\u4e2a\u547d\u4ee4send_goal\u3002\u6307\u5b9a\u7684\u7b2c\u4e00\u4e2a\u53c2\u6570\u662f\u53d1\u9001\u7684\u8282\u70b9\uff0c\u7b2c\u4e8c\u4e2a\u53c2\u6570\u662f\u6d88\u606f\u7c7b\u578b\u6587\u4ef6\uff0c\u6700\u540e\u662f\u6d88\u606f\u5185\u5bb9\u3002\u5bf9\u4e8e\u6d77\u9f9f\u800c\u8a00\uff0ctheta\u7684\u5192\u53f7\u540e\u9762\u8fd8\u8981\u6709\u4e00\u4e2a\u7a7a\u683c\u3002–feedback\u662f\u7528\u4e8e\u8bbe\u7f6e\u662f\u5426\u8981\u5c55\u793a\u6bcf\u6b21\u8bdd\u9898\u53d1\u5e03\u7684\u5185\u5bb9\u3002<\/p>\n\n\n\n
\u4e00\u4e2a\u57fa\u7840.action\u7684\u5b9e\u4f8b\u5982\u4e0b\uff0c\u7528\u6765\u6a21\u62df\u63a7\u5236\u673a\u5668\u4eba\u65cb\u8f6c\u52a8\u4f5c\uff1a<\/p>\n\n\n\n
bool enable     # \u5b9a\u4e49\u52a8\u4f5c\u7684\u76ee\u6807\uff0c\u8868\u793a\u52a8\u4f5c\u5f00\u59cb\u7684\u6307\u4ee4\n---\nbool finish     # \u5b9a\u4e49\u52a8\u4f5c\u7684\u7ed3\u679c\uff0c\u8868\u793a\u662f\u5426\u6210\u529f\u6267\u884c\n---\nint32 state     # \u5b9a\u4e49\u52a8\u4f5c\u7684\u53cd\u9988\uff0c\u8868\u793a\u5f53\u524d\u6267\u884c\u5230\u7684\u4f4d\u7f6e<\/code><\/pre>\n\n\n\n
\u5305\u542b\u4e09\u4e2a\u90e8\u5206\uff1a<\/p>\n\n\n\n
    \n
  • \u7b2c\u4e00\u5757\u662f\u52a8\u4f5c\u7684\u76ee\u6807<\/strong>\uff0cenable\u4e3atrue\u65f6\uff0c\u8868\u793a\u5f00\u59cb\u8fd0\u52a8\uff1b<\/li>\n\n\n\n
  • \u7b2c\u4e8c\u5757\u662f\u52a8\u4f5c\u7684\u6267\u884c\u7ed3\u679c<\/strong>\uff0cfinish\u4e3atrue\uff0c\u8868\u793a\u52a8\u4f5c\u6267\u884c\u5b8c\u6210\uff1b<\/li>\n\n\n\n
  • \u7b2c\u4e09\u5757\u662f\u52a8\u4f5c\u7684\u5468\u671f\u53cd\u9988<\/strong>\uff0c\u8868\u793a\u5f53\u524d\u673a\u5668\u4eba\u65cb\u8f6c\u5230\u7684\u89d2\u5ea6\u3002<\/li>\n<\/ul>\n\n\n\n
    \u4e09\u4e2a\u90e8\u5206\u96b6\u5c5e\u4e00\u4e2a\u5927\u7684\u7ed3\u6784\u4f53\uff08\u7c7b\uff09\uff0c\u5177\u4f53\u5185\u90e8\u53c8\u7531\u4e09\u4e2a\u5176\u4ed6\u7ed3\u6784\u4f53\u5c5e\u6027\uff0c\u5206\u522b\u4e3agoal\u3001result\u3001feedback\u3002<\/p>\n\n\n\n
    \u5ba2\u6237\u7aef\u53d1\u9001\u7ed9\u4e00\u4e2a\u52a8\u4f5c\u76ee\u6807\uff0c\u670d\u52a1\u5668\u63a7\u5236\u673a\u5668\u4eba\u5f00\u59cb\u8fd0\u52a8\uff0c\u5e76\u5468\u671f\u53cd\u9988\uff0c\u7ed3\u675f\u540e\u53cd\u9988\u7ed3\u675f\u4fe1\u606f\u3002<\/p>\n\n\n\n
    \u540c\u7406\uff0c\u5b8c\u6210\u5b9a\u4e49\u540e\uff0c\u8fd8\u9700\u8981\u5728\u529f\u80fd\u5305\u7684CMakeLists.txt\u4e2d\u914d\u7f6e\u7f16\u8bd1\u9009\u9879\uff0c\u8ba9\u7f16\u8bd1\u5668\u5728\u7f16\u8bd1\u8fc7\u7a0b\u4e2d\uff0c\u6839\u636e\u63a5\u53e3\u5b9a\u4e49\uff0c\u81ea\u52a8\u751f\u6210\u4e0d\u540c\u8bed\u8a00\u7684\u4ee3\u7801\u3002<\/p>\n\n\n\n
    \u5728\u670d\u52a1\u5668\u7aef\u548c\u5ba2\u6237\u7aef\uff0c\u540c\u6837\u9700\u8981\u6309python\u89c4\u5219\u4ece\u6307\u5b9a\u7684\u5e93\u5bfc\u5165\u5bf9\u5e94\u7684\u7c7b\u540d\u3002<\/p>\n\n\n\n
    \u4e00\u4e2a\u670d\u52a1\u5668\u7aef\u793a\u4f8b\u5982\u4e0b\uff1a<\/p>\n\n\n\n
    import time\n\nimport rclpy                                      # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node   import Node                     # ROS2 \u8282\u70b9\u7c7b\nfrom rclpy.action import ActionServer             # ROS2 \u52a8\u4f5c\u670d\u52a1\u5668\u7c7b\nfrom learning_interface.action import MoveCircle  # \u81ea\u5b9a\u4e49\u7684\u5706\u5468\u8fd0\u52a8\u63a5\u53e3\n\nclass MoveCircleActionServer(Node):\n    def __init__(self, name):\n        super().__init__(name)                   # ROS2\u8282\u70b9\u7236\u7c7b\u521d\u59cb\u5316\n        self._action_server = ActionServer(    # \u521b\u5efa\u52a8\u4f5c\u670d\u52a1\u5668\uff08\u63a5\u53e3\u7c7b\u578b\u3001\u52a8\u4f5c\u540d\u3001\u56de\u8c03\u51fd\u6570\uff09\n            self,\n            MoveCircle,\n            'move_circle',\n            self.execute_callback)\n\n    def execute_callback(self, goal_handle):            # \u6267\u884c\u6536\u5230\u52a8\u4f5c\u76ee\u6807\u4e4b\u540e\u7684\u5904\u7406\u51fd\u6570\n        self.get_logger().info('Moving circle...')\n        feedback_msg = MoveCircle.Feedback()     # \u521b\u5efa\u4e00\u4e2a\u52a8\u4f5c\u53cd\u9988\u4fe1\u606f\u7684\u6d88\u606f\uff0c\u672c\u8d28\u4e0a\u662f\u4e2a\u8bdd\u9898\n\n        for i in range(0, 360, 30):                # \u4ece0\u5230360\u5ea6\uff0c\u6267\u884c\u5706\u5468\u8fd0\u52a8\uff0c\u5e76\u5468\u671f\u53cd\u9988\u4fe1\u606f\n            feedback_msg.state = i                      # \u521b\u5efa\u53cd\u9988\u4fe1\u606f\uff0c\u8868\u793a\u5f53\u524d\u6267\u884c\u5230\u7684\u89d2\u5ea6\n            self.get_logger().info('Publishing feedback: %d' % feedback_msg.state)\n            goal_handle.publish_feedback(feedback_msg)  # \u53d1\u5e03\u53cd\u9988\u4fe1\u606f\n            time.sleep(0.5)\n\n        goal_handle.succeed()                           # \u52a8\u4f5c\u6267\u884c\u6210\u529f\n        result = MoveCircle.Result()                    # \u521b\u5efa\u7ed3\u679c\u6d88\u606f\n        result.finish = True                            \n        return result                                   # \u53cd\u9988\u6700\u7ec8\u52a8\u4f5c\u6267\u884c\u7684\u7ed3\u679c\n\ndef main(args=None):                                       # ROS2\u8282\u70b9\u4e3b\u5165\u53e3main\u51fd\u6570\n    rclpy.init(args=args)                                  # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = MoveCircleActionServer(\"action_move_server\")    # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    rclpy.spin(node)                                       # \u5faa\u73af\u7b49\u5f85ROS2\u9000\u51fa\n    node.destroy_node()                                    # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                                       # \u5173\u95edROS2 Python\u63a5\u53e3\n<\/code><\/pre>\n\n\n\n
    \u6b64\u5904\u670d\u52a1\u5668\u7aef\u5e76\u6ca1\u6709\u53bb\u83b7\u53d6\u5ba2\u6237\u7aef\u4f20\u9012\u6765\u7684\u53c2\u6570\u5177\u4f53\u662f\u4ec0\u4e48\uff0c\u6536\u5230\u6d88\u606f\u540e\u6267\u884c\u56de\u8c03\u51fd\u6570\u5c31\u5f00\u59cb\u6a21\u62df\u8fd0\u52a8\u3002\u5176\u5b9e\u5e94\u8be5\u4e5f\u4f9d\u65e7\u53ef\u4ee5\u5c1d\u8bd5\u5728\u56de\u8c03\u51fd\u6570\u91cc\u901a\u8fc7MoveCircle.Goal()<\/code>\u7684\u65b9\u6cd5\u83b7\u53d6\u5ba2\u6237\u7aef\u4f20\u9012\u6765\u7684\u6570\u636e\u3002\uff08\u5df2\u9a8c\u8bc1\u8fc7\u53ef\u884c\uff09<\/p>\n\n\n\n
    \u5bf9\u5e94\u7684\u5ba2\u6237\u7aef\u5b9e\u4f8b\u5982\u4e0b\uff1a<\/p>\n\n\n\n
    \nimport rclpy                                      # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node   import Node                     # ROS2 \u8282\u70b9\u7c7b\nfrom rclpy.action import ActionClient             # ROS2 \u52a8\u4f5c\u5ba2\u6237\u7aef\u7c7b\n\nfrom learning_interface.action import MoveCircle  # \u81ea\u5b9a\u4e49\u7684\u5706\u5468\u8fd0\u52a8\u63a5\u53e3\n\nclass MoveCircleActionClient(Node):\n    def __init__(self, name):\n        super().__init__(name)                   # ROS2\u8282\u70b9\u7236\u7c7b\u521d\u59cb\u5316\n        self._action_client = ActionClient(      # \u521b\u5efa\u52a8\u4f5c\u5ba2\u6237\u7aef\uff08\u63a5\u53e3\u7c7b\u578b\u3001\u52a8\u4f5c\u540d\uff09\n            self, MoveCircle, 'move_circle') \n\n    def send_goal(self, enable):                 # \u521b\u5efa\u4e00\u4e2a\u53d1\u9001\u52a8\u4f5c\u76ee\u6807\u7684\u51fd\u6570\n        goal_msg = MoveCircle.Goal()             # \u521b\u5efa\u4e00\u4e2a\u52a8\u4f5c\u76ee\u6807\u7684\u6d88\u606f\n        goal_msg.enable = enable                 # \u8bbe\u7f6e\u52a8\u4f5c\u76ee\u6807\u4e3a\u4f7f\u80fd\uff0c\u5e0c\u671b\u673a\u5668\u4eba\u5f00\u59cb\u8fd0\u52a8\n\n        self._action_client.wait_for_server()    # \u7b49\u5f85\u52a8\u4f5c\u7684\u670d\u52a1\u5668\u7aef\u542f\u52a8\n        self._send_goal_future = self._action_client.send_goal_async(# \u5f02\u6b65\u65b9\u5f0f\u53d1\u9001\u52a8\u4f5c\u7684\u76ee\u6807\n            goal_msg,                                                # \u52a8\u4f5c\u76ee\u6807\n            feedback_callback=self.feedback_callback)            # \u5904\u7406\u5468\u671f\u53cd\u9988\u6d88\u606f\u7684\u56de\u8c03\u51fd\u6570\n                          \n        self._send_goal_future.add_done_callback(self.goal_response_callback) # \u8bbe\u7f6e\u4e00\u4e2a\u670d\u52a1\u5668\u6536\u5230\u76ee\u6807\u4e4b\u540e\u53cd\u9988\u65f6\u7684\u56de\u8c03\u51fd\u6570\n\n    def goal_response_callback(self, future):           # \u521b\u5efa\u4e00\u4e2a\u670d\u52a1\u5668\u6536\u5230\u76ee\u6807\u4e4b\u540e\u53cd\u9988\u65f6\u7684\u56de\u8c03\u51fd\u6570\n        goal_handle = future.result()                   # \u63a5\u6536\u52a8\u4f5c\u7684\u7ed3\u679c\n        if not goal_handle.accepted:                    # \u5982\u679c\u52a8\u4f5c\u88ab\u62d2\u7edd\u6267\u884c\n            self.get_logger().info('Goal rejected :(')\n            return\n\n        self.get_logger().info('Goal accepted :)')                          # \u52a8\u4f5c\u88ab\u987a\u5229\u6267\u884c\n\n        self._get_result_future = goal_handle.get_result_async()              # \u5f02\u6b65\u83b7\u53d6\u52a8\u4f5c\u6700\u7ec8\u6267\u884c\u7684\u7ed3\u679c\u53cd\u9988\n        self._get_result_future.add_done_callback(self.get_result_callback)   # \u8bbe\u7f6e\u4e00\u4e2a\u6536\u5230\u6700\u7ec8\u7ed3\u679c\u7684\u56de\u8c03\u51fd\u6570 \n\n    def get_result_callback(self, future):                   # \u521b\u5efa\u4e00\u4e2a\u6536\u5230\u6700\u7ec8\u7ed3\u679c\u7684\u56de\u8c03\u51fd\u6570\n        result = future.result().result                                  # \u8bfb\u53d6\u52a8\u4f5c\u6267\u884c\u7684\u7ed3\u679c\n        self.get_logger().info('Result: {%d}' % result.finish)           # \u65e5\u5fd7\u8f93\u51fa\u6267\u884c\u7ed3\u679c\n\n    def feedback_callback(self, feedback_msg):               # \u521b\u5efa\u5904\u7406\u5468\u671f\u53cd\u9988\u6d88\u606f\u7684\u56de\u8c03\u51fd\u6570\n        feedback = feedback_msg.feedback                                   # \u8bfb\u53d6\u53cd\u9988\u7684\u6570\u636e\n        self.get_logger().info('Received feedback: {%d}' % feedback.state) \n\ndef main(args=None):                                       # ROS2\u8282\u70b9\u4e3b\u5165\u53e3main\u51fd\u6570\n    rclpy.init(args=args)                                  # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = MoveCircleActionClient(\"action_move_client\")    # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    node.send_goal(True)                                   # \u53d1\u9001\u52a8\u4f5c\u76ee\u6807\n    rclpy.spin(node)                                       # \u5faa\u73af\u7b49\u5f85ROS2\u9000\u51fa\n    node.destroy_node()                                    # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                                       # \u5173\u95edROS2 Python\u63a5\u53e3\n<\/code><\/pre>\n\n\n\n
    \u540c\u6837\u7684\u5bfc\u5165\u65b9\u5f0f\u83b7\u53d6action\u7684\u7c7b\u3002<\/p>\n\n\n\n
    <\/p>\n\n\n\n
    \u5ba2\u6237\u7aef\u8bbe\u7f6e\u4e86\u4e09\u4e2a\u56de\u8c03\u51fd\u6570\uff0c\u5206\u522b\u4e3a:<\/summary>\n
      \n
    • goal_response_callback\uff1a\u76ee\u6807\u53d1\u9001\u7ed9\u670d\u52a1\u5668\u7aef\u540e\uff0c\u670d\u52a1\u5668\u7aef\u4f1a\u53cd\u9988\u4e00\u4e2a\u6d88\u606f\u8868\u793a\u6536\u5230\u4e86\u4fe1\u606f\u3002\u5f53\u5ba2\u6237\u7aef\u63a5\u6536\u5230\u76ee\u6807\u540e\u7684\u8fd4\u56de\u4fe1\u606f\u53d1\u56de\u5ba2\u6237\u7aef\u540e\u8c03\u7528\u7684\u51fd\u6570\u3002\u8fd9\u91cc\u7684\u793a\u4f8b\u4e2d\uff0c\u5148\u5224\u65ad\u8fd4\u56de\u6d88\u606f\u662f\u5426\u7b26\u5408\u9884\u671f\u8981\u6c42\uff0c\u6ca1\u95ee\u9898\u540e\u8f93\u51fa\u65e5\u5fd7\u5e76\u5f02\u6b65\u7b49\u5f85\u6267\u884c\uff0c\u6267\u884c\u5b8c\u540e\u518d\u8c03\u7528\u56de\u8c03\u51fd\u6570\u201cget_result_callback\u201d\u3002<\/li>\n<\/ul>\n\n\n\n
        \n
      • get_result_callback\uff1a\u673a\u5668\u4eba\u6267\u884c\u5b8c\u6574\u4e2a\u5b8c\u6574\u52a8\u4f5c\u540e\uff0c\u6700\u7ec8\u8fd4\u56de\u7ed3\u679c\u65f6\uff0c\u6267\u884c\u8be5\u51fd\u6570\u3002\u6b64\u5904\u793a\u4f8b\u4ec5\u4ec5\u53ea\u662f\u5728\u65e5\u5fd7\u91cc\u5c55\u793a\u6700\u7ec8\u7ed3\u679c\u800c\u5df2\u3002<\/li>\n<\/ul>\n\n\n\n
          \n
        • feedback_callback\uff1a\u673a\u5668\u4eba\u52a8\u4f5c\u6267\u884c\u671f\u95f4\u6301\u7eed\u4e0d\u65ad\u7684\u901a\u8fc7\u8bdd\u9898\u53cd\u9988\u6d88\u606f\uff0c\u671f\u95f4\u6bcf\u6b21\u53cd\u9988\u7684\u6d88\u606f\u88ab\u5ba2\u6237\u7aef\u6536\u5230\u90fd\u4f1a\u6267\u884c\u4e00\u6b21\u672c\u51fd\u6570\uff0c\u7528\u4e8e\u76d1\u63a7\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u72b6\u6001\u3002<\/li>\n<\/ul>\n<\/details>\n\n\n\n
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