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Merge branch 'workstation_dev' into dev

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# Conflicts:
#	.conda/recipe.yaml
#	recipes/msgs/recipe.yaml
#	recipes/unilabos/recipe.yaml
#	setup.py
#	unilabos/registry/devices/work_station.yaml
#	unilabos/ros/nodes/base_device_node.py
#	unilabos/ros/nodes/presets/protocol_node.py
#	unilabos_msgs/package.xml
This commit is contained in:
Xuwznln
2025-09-19 19:52:53 +08:00
parent 67ca45a240 bdddbd57ba
commit 091c9fa247
35 changed files with 5734 additions and 110 deletions
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12
unilabos/resources/graphio.py
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@@ -7,13 +7,13 @@ import networkx as nx
from unilabos_msgs.msg import Resource
from unilabos.resources.container import RegularContainer
from unilabos.ros.msgs.message_converter import convert_from_ros_msg_with_mapping, convert_to_ros_msg
from unilabos.ros.msgs.message_converter import convert_to_ros_msg
try:
from pylabrobot.resources.resource import Resource as ResourcePLR
except ImportError:
pass
from typing import Union, get_origin, get_args
from typing import Union, get_origin
physical_setup_graph: nx.Graph = None
@@ -327,7 +327,7 @@ def nested_dict_to_list(nested_dict: dict) -> list[dict]: # FIXME 是tree？
return result
def convert_resources_to_type(
resources_list: list[dict], resource_type: type, *, plr_model: bool = False
resources_list: list[dict], resource_type: Union[type, list[type]], *, plr_model: bool = False
) -> Union[list[dict], dict, None, "ResourcePLR"]:
"""
Convert resources to a given type (PyLabRobot or NestedDict) from flattened list of dictionaries.
@@ -358,7 +358,7 @@ def convert_resources_to_type(
return None
def convert_resources_from_type(resources_list, resource_type: type) -> Union[list[dict], dict, None, "ResourcePLR"]:
def convert_resources_from_type(resources_list, resource_type: Union[type, list[type]], *, is_plr: bool = False) -> Union[list[dict], dict, None, "ResourcePLR"]:
"""
Convert resources from a given type (PyLabRobot or NestedDict) to flattened list of dictionaries.
@@ -374,11 +374,11 @@ def convert_resources_from_type(resources_list, resource_type: type) -> Union[li
elif isinstance(resource_type, type) and issubclass(resource_type, ResourcePLR):
resources_tree = [resource_plr_to_ulab(resources_list)]
return tree_to_list(resources_tree)
elif isinstance(resource_type, list) :
elif isinstance(resource_type, list):
if all((get_origin(t) is Union) for t in resource_type):
resources_tree = [resource_plr_to_ulab(r) for r in resources_list]
return tree_to_list(resources_tree)
elif all(issubclass(t, ResourcePLR) for t in resource_type):
elif is_plr or all(issubclass(t, ResourcePLR) for t in resource_type):
resources_tree = [resource_plr_to_ulab(r) for r in resources_list]
return tree_to_list(resources_tree)
else: