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更新transfer_resource_to_another参数，支持spot入参

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This commit is contained in:
Xuwznln
2025-10-11 02:41:37 +08:00
parent df33e1a214
commit 0c42d60cf2
9 changed files with 598 additions and 519 deletions
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11
unilabos/registry/registry.py
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@@ -9,6 +9,8 @@ from typing import Any, Dict, List, Union, Tuple
import msgcenterpy
import yaml
from rosidl_parser.definition import UnboundedSequence
from unilabos_msgs.action import LiquidHandlerTransfer
from unilabos_msgs.msg import Resource
from unilabos.config.config import BasicConfig
@@ -431,6 +433,11 @@ class Registry:
param_required = arg_info.get("required", True)
if param_type == "unilabos.registry.placeholder_type:ResourceSlot":
schema["properties"][param_name] = ros_message_to_json_schema(Resource, param_name)
elif param_type == ("list", "unilabos.registry.placeholder_type:ResourceSlot"):
schema["properties"][param_name] = {
"items": ros_message_to_json_schema(Resource, param_name),
"type": "array"
}
else:
schema["properties"][param_name] = self._generate_schema_from_info(param_name, param_type, param_default)
if param_required:
@@ -543,9 +550,9 @@ class Registry:
"goal_default": {i["name"]: i["default"] for i in v["args"]},
"handles": [],
"placeholder_keys": {
i["name"]: "unilabos_resources" if i["type"] == "unilabos.registry.placeholder_type:ResourceSlot" else "unilabos_devices"
i["name"]: "unilabos_resources" if i["type"] == "unilabos.registry.placeholder_type:ResourceSlot" or i["type"] == ("list", "unilabos.registry.placeholder_type:ResourceSlot") else "unilabos_devices"
for i in v["args"]
if i.get("type", "") in ["unilabos.registry.placeholder_type:ResourceSlot", "unilabos.registry.placeholder_type:DeviceSlot"]
if i.get("type", "") in ["unilabos.registry.placeholder_type:ResourceSlot", "unilabos.registry.placeholder_type:DeviceSlot", ("list", "unilabos.registry.placeholder_type:ResourceSlot"), ("list", "unilabos.registry.placeholder_type:DeviceSlot")]
}
}
# 不生成已配置action的动作