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feat: workstation example

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Xuwznln
2025-08-07 15:26:17 +08:00
parent e6c556cf19
commit 01cbbba0b3
6 changed files with 215 additions and 6 deletions
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8
unilabos/ros/nodes/base_device_node.py
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@@ -31,6 +31,7 @@ from unilabos.resources.graphio import (
resource_plr_to_ulab,
tree_to_list,
)
from unilabos.resources.plr_additional_res_reg import register
from unilabos.ros.msgs.message_converter import (
convert_to_ros_msg,
convert_from_ros_msg,
@@ -941,17 +942,14 @@ class ROS2DeviceNode:
if use_pylabrobot_creator:
# 先对pylabrobot的子资源进行加载，不然subclass无法认出
# 在下方对于加载Deck等Resource要手动import
# noinspection PyUnresolvedReferences
from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Deck
# noinspection PyUnresolvedReferences
from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container
register()
self._driver_creator = PyLabRobotCreator(
driver_class, children=children, resource_tracker=self.resource_tracker
)
else:
from unilabos.ros.nodes.presets.protocol_node import ROS2ProtocolNode
if self._driver_class is ROS2ProtocolNode:
if issubclass(self._driver_class, ROS2ProtocolNode): # 是ProtocolNode的子节点，就要调用ProtocolNodeCreator
self._driver_creator = ProtocolNodeCreator(driver_class, children=children, resource_tracker=self.resource_tracker)
else:
self._driver_creator = DeviceClassCreator(driver_class, children=children, resource_tracker=self.resource_tracker)